Autonomous Space Robotics Lab Speeded Up SURF surf_tests.hpp Go to the documentation of this file. /* Copyright (c) 2010, Paul Furgale and Chi Hay Tong All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * The names of its contributors may not be used to endorse or promote products derived from this software without specific prior written permission. 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IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #ifndef ASRL_SURF_TESTS_HPP #define ASRL_SURF_TESTS_HPP #include "GpuSurfOctave.hpp" #include "fasthessian.h" #include "GpuSurfDetectorInternal.hpp" #include <opencv/highgui.h> #include <opencv/highgui.hpp> #include <boost/lexical_cast.hpp> #include "gpu_utils.h" bool interesting(cv::KeyPoint const & lhs, cv::KeyPoint const & rhs) { return lhs.response > rhs.response; } void load_keypoints(std::string const & inputKeypointFile, std::vector<cv::KeyPoint> & inKeypoints, std::vector<float> & inDescriptors, int imRows, int imCols) { std::ifstream fin(inputKeypointFile.c_str()); ASRL_ASSERT(fin.good(),"Unable to open keypoint file " << inputKeypointFile << " for reading"); std::string line; std::getline(fin,line); int i = 1; while(!fin.eof()) { std::istringstream lin(line); cv::KeyPoint k; lin >> k.pt.x; lin >> k.pt.y; lin >> k.size; lin >> k.response; lin >> k.angle; lin >> k.octave; int laplacian; lin >> laplacian; if(laplacian == 1) { setLastBit(k.response); } else { clearLastBit(k.response); } //std::cout << "read kpt: " << k.pt.x << "," << k.pt.y << ", " << k.size << "," << k.angle << std::endl; ASRL_ASSERT_GE_LT(k.pt.x,0,imCols,"Keypoint " << i << " is out of bounds"); ASRL_ASSERT_GE_LT(k.pt.y,0,imRows,"Keypoint " << i << " is out of bounds"); ASRL_ASSERT_GE_LT(k.angle,-3.15,3.15,"Keypoint " << i << " angle is out of bounds"); ASRL_ASSERT_GE_LT(k.size,1,100,"Keypoint " << i << " size is out of bounds"); inKeypoints.push_back(k); for(int d = 0; d < 64; d++) { float di; lin >> di; ASRL_ASSERT(lin.good(),"Problem getting data from the string stream"); inDescriptors.push_back(di); } std::getline(fin,line); i++; } } BOOST_AUTO_TEST_SUITE(asrl_surf) BOOST_AUTO_TEST_CASE(test_surf) { // Load an image cv::Mat img = cv::imread("../testdata/seq-lt-g-000001.pgm",CV_LOAD_IMAGE_GRAYSCALE); asrl::GpuSurfConfiguration config; asrl::GpuSurfDetectorInternal detector(config); detector.buildIntegralImage(img); detector.detectKeypoints(); detector.findOrientationFast(); detector.computeDescriptors(); std::vector<cv::KeyPoint> kpGpu; detector.getKeypoints(kpGpu); // Use the octave as an index counter so we can recover the correct descriptor after the sort. for(int i = 0; i < kpGpu.size(); i++) kpGpu[i].octave = i; std::sort(kpGpu.begin(), kpGpu.end(), &interesting); std::vector<float> dsGpu; detector.getDescriptors(dsGpu); std::vector<cv::KeyPoint> kpFile; std::vector<float> dsFile; load_keypoints("../testdata/seq-lt-g-000001-gpusurf.key", kpFile, dsFile, img.rows, img.cols); // Use the octave as an index counter so we can recover the correct descriptor after the sort. for(int i = 0; i < kpFile.size(); i++) kpFile[i].octave = i; std::sort(kpFile.begin(),kpFile.end(), &interesting); double tolerance = 0.001; BOOST_REQUIRE_EQUAL(kpGpu.size(),kpFile.size()); BOOST_REQUIRE_EQUAL(dsGpu.size(),dsFile.size()); BOOST_REQUIRE_EQUAL(dsGpu.size(),kpGpu.size()*64); for(int i = 0; i < kpFile.size(); i++) { try{ ASRL_ASSERT_EQ_TOL(kpGpu[i].pt.x, kpFile[i].pt.x, tolerance, "deviation from reference keypoint. i = " << i); ASRL_ASSERT_EQ_TOL(kpGpu[i].pt.y, kpFile[i].pt.y, tolerance, "deviation from reference keypoint. i = " << i); ASRL_ASSERT_EQ_TOL(kpGpu[i].response, kpFile[i].response, tolerance, "deviation from reference keypoint. i = " << i); ASRL_ASSERT_EQ_TOL(kpGpu[i].angle, kpFile[i].angle, tolerance, "deviation from reference keypoint. i = " << i); ASRL_ASSERT_EQ_TOL(kpGpu[i].size, kpFile[i].size, tolerance, "deviation from reference keypoint. i = " << i); ASRL_ASSERT_EQ(isLastBitSet(kpGpu[i].response), isLastBitSet(kpFile[i].response), "deviation from reference keypoint. i = " << i); int gpuOffset = kpGpu[i].octave*64; int fileOffset = kpFile[i].octave*64; for(int d = 0; d < 64; d++) { ASRL_ASSERT_EQ_TOL(dsGpu[gpuOffset + d],dsFile[fileOffset + d], tolerance, "Descriptor mismatch, feature " << i << ", component " << d); } } catch(std::exception const & e) { BOOST_ERROR(e.what()); } } // Muck around a bit to get the descriptors. } BOOST_AUTO_TEST_SUITE_END() #endif // ASRL_SURF_TESTS_HPP