Autonomous Space Robotics LabSpeeded Up SURF |
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non_max_suppression_tests.hpp
Go to the documentation of this file.00001 /* 00002 Copyright (c) 2010, Paul Furgale and Chi Hay Tong 00003 All rights reserved. 00004 00005 Redistribution and use in source and binary forms, with or without 00006 modification, are permitted provided that the following conditions are 00007 met: 00008 00009 * Redistributions of source code must retain the above copyright notice, 00010 this list of conditions and the following disclaimer. 00011 * Redistributions in binary form must reproduce the above copyright 00012 notice, this list of conditions and the following disclaimer in the 00013 documentation and/or other materials provided with the distribution. 00014 * The names of its contributors may not be used to endorse or promote 00015 products derived from this software without specific prior written 00016 permission. 00017 00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00019 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 00020 TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 00021 PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER 00022 OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00023 EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00024 PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 00025 PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 00026 LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 00027 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00028 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00029 */ 00030 00031 #include "fasthessian.h" 00032 #ifndef ASRL_NONMAX_TEST_HPP 00033 #define ASRL_NONMAX_TEST_HPP 00034 00035 #include "GpuSurfOctave.hpp" 00036 #include "fasthessian.h" 00037 #include "GpuSurfDetectorInternal.hpp" 00038 #include "non_max_suppression.h" 00039 #include <opencv/highgui.h> 00040 #include <opencv/highgui.hpp> 00041 #include <boost/lexical_cast.hpp> 00042 00043 00044 00046 BOOST_AUTO_TEST_SUITE(asrl_non_max_suppression) 00047 00048 BOOST_AUTO_TEST_CASE(test_non_max_suppression) 00049 { 00050 // Check that the fast hessian is deterministic. 00051 00052 // Load an image 00053 // cv::Mat img = cv::imread("../testdata/seq-lt-g-000001.pgm",CV_LOAD_IMAGE_GRAYSCALE); 00054 00055 // Create a single octave. 00056 int imwidth = 101; 00057 int imheight = 99; 00058 00059 const int nOctaves = 3; 00060 asrl::GpuSurfOctave olist[nOctaves]; 00061 olist[0].init(imwidth, imheight, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 0, 1, 4); 00062 olist[1].init(imwidth, imheight, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1, 1, 4); 00063 olist[2].init(imwidth, imheight, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 2, 1, 4); 00064 init_globals(imwidth,imheight,olist,nOctaves); 00065 00066 asrl::CudaSynchronizedMemory<float> hessian; 00067 hessian.init(olist[0].stride() * olist[0].height() * olist[0].width() * olist[0].intervals()); 00068 00069 asrl::GpuSurfFeatures features; 00070 features.featureCounterMem().pullFromDevice(); 00071 BOOST_CHECK_EQUAL(features.featureCounterMem()[1],0); 00072 BOOST_CHECK_EQUAL(features.featureCounterMem()[0],0); 00073 00074 00075 float threshold = -0.1f; 00076 00077 00078 00079 // Initialize the octave to zero. 00080 hessian.memset(0); 00081 00082 dim3 threads, grid; 00083 threads.x = 16; 00084 threads.y = 4; 00085 threads.z = olist[0].intervals(); 00086 00087 // grid.x = ( (olist[0].width() + (threads.x-2) - 1) / (threads.x-2)); 00088 grid.x = ( (olist[0].width() + (threads.x-2) - 1) / (threads.x-2)); 00089 grid.y = ( (olist[0].height() + (threads.y-2) - 1) / (threads.y-2)); 00090 grid.z = 1; 00091 size_t sharedBytes = (threads.x+2)*threads.y*olist[0].intervals()*sizeof(float); 00092 00093 asrl::run_surf_nonmaxonly_kernel(grid, threads, sharedBytes, hessian.d_get(), 0, features.rawFeatureMem().d_get(), features.featureCounterMem().d_get() + 1, threshold); 00094 00095 00096 features.setDirty(); 00097 // As all entries are equal, this also tests that 00098 BOOST_CHECK_EQUAL(features.ftCount(),0); 00099 BOOST_CHECK_EQUAL(features.rawFeatureCount(),0); 00100 00101 00102 00103 // // Pick a couple of test cases. 00104 // // This should not create a maxima as it is on a border. 00105 // octave(100,100,0) = 1.f; 00106 // octave(50,50,octave.intervals() - 1) = 1.f; 00107 00108 try { 00109 for(unsigned o = 0; o <nOctaves; o++) 00110 { 00111 asrl::GpuSurfOctave & octave = olist[o]; 00112 00113 std::vector<cv::KeyPoint> keypoints; 00114 for(int i = 1; i < octave.intervals(); i++) 00115 { 00116 for(int r = 1; r < octave.height(); r++) 00117 { 00118 for(int c = 1; c < octave.width(); c++) 00119 { 00120 features.featureCounterMem().memset(0); 00121 hessian[c + olist[0].stride() * r + olist[0].stride() * octave.height() * i] = 1.f; 00122 hessian.pushToDevice(); 00123 00124 grid.x = ( octave.width() + (threads.x-2) - 1) / (threads.x-2); 00125 grid.y = ( (octave.height() + (threads.y-2) - 1) / (threads.y-2)); 00126 grid.z = 1; 00127 00128 asrl::run_surf_nonmaxonly_kernel(grid, threads, sharedBytes, hessian.d_get(), o, features.rawFeatureMem().d_get(), features.featureCounterMem().d_get() + 1, threshold); 00129 features.setDirty(); 00130 // As all entries are equal, this also tests that 00131 ASRL_ASSERT_EQ(features.ftCount(),0,"at location (" << o << "," << i << "," << r << "," << c << ")"); 00132 00133 if(r == 0 || c == 0 || i == 0 || 00134 i == octave.intervals() -1 || 00135 r == octave.height() - 1 || 00136 c == octave.width() - 1) 00137 { 00138 if(features.rawFeatureCount() != 0) 00139 { 00140 std::vector<cv::KeyPoint> keypoints; 00141 features.getRawKeypoints(keypoints); 00142 for(unsigned i = 0; i < keypoints.size(); i++) 00143 { 00144 cv::KeyPoint & k = keypoints[i]; 00145 std::cout << "[" << i << "] (" << k.pt.x << "," << k.pt.y << ") x " << k.response << " -- " << k.octave << std::endl; 00146 } 00147 } 00148 00149 ASRL_ASSERT_EQ(features.rawFeatureCount(),0,"at location (" << o << "," << i << "," << r << "," << c << ")"); 00150 00151 } 00152 else 00153 { 00154 ASRL_ASSERT_EQ(features.rawFeatureCount(),1,"at location (" << o << "," << i << "," << r << "," << c << ")"); 00155 if(features.rawFeatureCount() == 1) 00156 { 00157 // Check which feature it is. 00158 keypoints.clear(); 00159 features.getRawKeypoints(keypoints); 00160 ASRL_ASSERT_EQ(keypoints.size(),1,"at location (" << o << "," << i << "," << r << "," << c << ")"); 00161 ASRL_ASSERT_EQ(keypoints[0].pt.x,c,"at location (" << o << "," << i << "," << r << "," << c << ")"); 00162 ASRL_ASSERT_EQ(keypoints[0].pt.y,r,"at location (" << o << "," << i << "," << r << "," << c << ")"); 00163 ASRL_ASSERT_EQ(keypoints[0].octave,o,"at location (" << o << "," << i << "," << r << "," << c << ")"); 00164 00165 } 00166 00167 } 00168 features.clearFeatureCounts(); 00169 hessian[c + olist[0].stride() * r + olist[0].stride() * octave.height() * i] = 0.f; 00170 00171 } 00172 } 00173 } 00174 } 00175 } 00176 catch(std::exception const & e) 00177 { 00178 BOOST_ERROR(e.what()); 00179 } 00180 00181 if(features.rawFeatureCount() != 0) 00182 { 00183 std::vector<cv::KeyPoint> keypoints; 00184 features.getRawKeypoints(keypoints); 00185 for(unsigned i = 0; i < keypoints.size(); i++) 00186 { 00187 cv::KeyPoint & k = keypoints[i]; 00188 std::cout << "[" << i << "] (" << k.pt.x << "," << k.pt.y << ") x " << k.response << " -- " << k.octave << std::endl; 00189 } 00190 } 00191 00192 } 00193 00194 00195 BOOST_AUTO_TEST_SUITE_END() 00196 00197 #endif // ASRL_NONMAX_TEST_HPP
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