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Revert "call resetDevice if gpu test fails"

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This reverts commit ab25fe9e37.
This commit is contained in:
Vladislav Vinogradov
2012-12-19 11:13:31 +04:00
parent 41c9377db0
commit 4ba33fa1ed
36 changed files with 5694 additions and 9450 deletions
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modules/gpu/test/test_calib3d.cpp
+113 -169
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@@ -62,28 +62,20 @@ struct StereoBM : testing::TestWithParam<cv::gpu::DeviceInfo>
TEST_P(StereoBM, Regression)
{
try
{
cv::Mat left_image = readImage("stereobm/aloe-L.png", cv::IMREAD_GRAYSCALE);
cv::Mat right_image = readImage("stereobm/aloe-R.png", cv::IMREAD_GRAYSCALE);
cv::Mat disp_gold = readImage("stereobm/aloe-disp.png", cv::IMREAD_GRAYSCALE);
cv::Mat left_image = readImage("stereobm/aloe-L.png", cv::IMREAD_GRAYSCALE);
cv::Mat right_image = readImage("stereobm/aloe-R.png", cv::IMREAD_GRAYSCALE);
cv::Mat disp_gold = readImage("stereobm/aloe-disp.png", cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
cv::gpu::StereoBM_GPU bm(0, 128, 19);
cv::gpu::GpuMat disp;
cv::gpu::StereoBM_GPU bm(0, 128, 19);
cv::gpu::GpuMat disp;
bm(loadMat(left_image), loadMat(right_image), disp);
bm(loadMat(left_image), loadMat(right_image), disp);
EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
}
catch (...)
{
cv::gpu::resetDevice();
throw;
}
EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, StereoBM, ALL_DEVICES);
@@ -105,31 +97,23 @@ struct StereoBeliefPropagation : testing::TestWithParam<cv::gpu::DeviceInfo>
TEST_P(StereoBeliefPropagation, Regression)
{
try
{
cv::Mat left_image = readImage("stereobp/aloe-L.png");
cv::Mat right_image = readImage("stereobp/aloe-R.png");
cv::Mat disp_gold = readImage("stereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE);
cv::Mat left_image = readImage("stereobp/aloe-L.png");
cv::Mat right_image = readImage("stereobp/aloe-R.png");
cv::Mat disp_gold = readImage("stereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
cv::gpu::StereoBeliefPropagation bp(64, 8, 2, 25, 0.1f, 15, 1, CV_16S);
cv::gpu::GpuMat disp;
cv::gpu::StereoBeliefPropagation bp(64, 8, 2, 25, 0.1f, 15, 1, CV_16S);
cv::gpu::GpuMat disp;
bp(loadMat(left_image), loadMat(right_image), disp);
bp(loadMat(left_image), loadMat(right_image), disp);
cv::Mat h_disp(disp);
h_disp.convertTo(h_disp, disp_gold.depth());
cv::Mat h_disp(disp);
h_disp.convertTo(h_disp, disp_gold.depth());
EXPECT_MAT_NEAR(disp_gold, h_disp, 0.0);
}
catch (...)
{
cv::gpu::resetDevice();
throw;
}
EXPECT_MAT_NEAR(disp_gold, h_disp, 0.0);
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, StereoBeliefPropagation, ALL_DEVICES);
@@ -151,37 +135,29 @@ struct StereoConstantSpaceBP : testing::TestWithParam<cv::gpu::DeviceInfo>
TEST_P(StereoConstantSpaceBP, Regression)
{
try
{
cv::Mat left_image = readImage("csstereobp/aloe-L.png");
cv::Mat right_image = readImage("csstereobp/aloe-R.png");
cv::Mat left_image = readImage("csstereobp/aloe-L.png");
cv::Mat right_image = readImage("csstereobp/aloe-R.png");
cv::Mat disp_gold;
cv::Mat disp_gold;
if (supportFeature(devInfo, cv::gpu::FEATURE_SET_COMPUTE_20))
disp_gold = readImage("csstereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE);
else
disp_gold = readImage("csstereobp/aloe-disp_CC1X.png", cv::IMREAD_GRAYSCALE);
if (supportFeature(devInfo, cv::gpu::FEATURE_SET_COMPUTE_20))
disp_gold = readImage("csstereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE);
else
disp_gold = readImage("csstereobp/aloe-disp_CC1X.png", cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
cv::gpu::StereoConstantSpaceBP csbp(128, 16, 4, 4);
cv::gpu::GpuMat disp;
cv::gpu::StereoConstantSpaceBP csbp(128, 16, 4, 4);
cv::gpu::GpuMat disp;
csbp(loadMat(left_image), loadMat(right_image), disp);
csbp(loadMat(left_image), loadMat(right_image), disp);
cv::Mat h_disp(disp);
h_disp.convertTo(h_disp, disp_gold.depth());
cv::Mat h_disp(disp);
h_disp.convertTo(h_disp, disp_gold.depth());
EXPECT_MAT_NEAR(disp_gold, h_disp, 1.0);
}
catch (...)
{
cv::gpu::resetDevice();
throw;
}
EXPECT_MAT_NEAR(disp_gold, h_disp, 1.0);
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, StereoConstantSpaceBP, ALL_DEVICES);
@@ -203,40 +179,32 @@ struct TransformPoints : testing::TestWithParam<cv::gpu::DeviceInfo>
TEST_P(TransformPoints, Accuracy)
{
try
cv::Mat src = randomMat(cv::Size(1000, 1), CV_32FC3, 0, 10);
cv::Mat rvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::Mat tvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::gpu::GpuMat dst;
cv::gpu::transformPoints(loadMat(src), rvec, tvec, dst);
ASSERT_EQ(src.size(), dst.size());
ASSERT_EQ(src.type(), dst.type());
cv::Mat h_dst(dst);
cv::Mat rot;
cv::Rodrigues(rvec, rot);
for (int i = 0; i < h_dst.cols; ++i)
{
cv::Mat src = randomMat(cv::Size(1000, 1), CV_32FC3, 0, 10);
cv::Mat rvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::Mat tvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::Point3f res = h_dst.at<cv::Point3f>(0, i);
cv::gpu::GpuMat dst;
cv::gpu::transformPoints(loadMat(src), rvec, tvec, dst);
cv::Point3f p = src.at<cv::Point3f>(0, i);
cv::Point3f res_gold(
rot.at<float>(0, 0) * p.x + rot.at<float>(0, 1) * p.y + rot.at<float>(0, 2) * p.z + tvec.at<float>(0, 0),
rot.at<float>(1, 0) * p.x + rot.at<float>(1, 1) * p.y + rot.at<float>(1, 2) * p.z + tvec.at<float>(0, 1),
rot.at<float>(2, 0) * p.x + rot.at<float>(2, 1) * p.y + rot.at<float>(2, 2) * p.z + tvec.at<float>(0, 2));
ASSERT_EQ(src.size(), dst.size());
ASSERT_EQ(src.type(), dst.type());
cv::Mat h_dst(dst);
cv::Mat rot;
cv::Rodrigues(rvec, rot);
for (int i = 0; i < h_dst.cols; ++i)
{
cv::Point3f res = h_dst.at<cv::Point3f>(0, i);
cv::Point3f p = src.at<cv::Point3f>(0, i);
cv::Point3f res_gold(
rot.at<float>(0, 0) * p.x + rot.at<float>(0, 1) * p.y + rot.at<float>(0, 2) * p.z + tvec.at<float>(0, 0),
rot.at<float>(1, 0) * p.x + rot.at<float>(1, 1) * p.y + rot.at<float>(1, 2) * p.z + tvec.at<float>(0, 1),
rot.at<float>(2, 0) * p.x + rot.at<float>(2, 1) * p.y + rot.at<float>(2, 2) * p.z + tvec.at<float>(0, 2));
ASSERT_POINT3_NEAR(res_gold, res, 1e-5);
}
}
catch (...)
{
cv::gpu::resetDevice();
throw;
ASSERT_POINT3_NEAR(res_gold, res, 1e-5);
}
}
@@ -259,42 +227,34 @@ struct ProjectPoints : testing::TestWithParam<cv::gpu::DeviceInfo>
TEST_P(ProjectPoints, Accuracy)
{
try
cv::Mat src = randomMat(cv::Size(1000, 1), CV_32FC3, 0, 10);
cv::Mat rvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::Mat tvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::Mat camera_mat = randomMat(cv::Size(3, 3), CV_32F, 0.5, 1);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
cv::gpu::GpuMat dst;
cv::gpu::projectPoints(loadMat(src), rvec, tvec, camera_mat, cv::Mat(), dst);
ASSERT_EQ(1, dst.rows);
ASSERT_EQ(MatType(CV_32FC2), MatType(dst.type()));
std::vector<cv::Point2f> dst_gold;
cv::projectPoints(src, rvec, tvec, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), dst_gold);
ASSERT_EQ(dst_gold.size(), static_cast<size_t>(dst.cols));
cv::Mat h_dst(dst);
for (size_t i = 0; i < dst_gold.size(); ++i)
{
cv::Mat src = randomMat(cv::Size(1000, 1), CV_32FC3, 0, 10);
cv::Mat rvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::Mat tvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::Mat camera_mat = randomMat(cv::Size(3, 3), CV_32F, 0.5, 1);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
cv::Point2f res = h_dst.at<cv::Point2f>(0, (int)i);
cv::Point2f res_gold = dst_gold[i];
cv::gpu::GpuMat dst;
cv::gpu::projectPoints(loadMat(src), rvec, tvec, camera_mat, cv::Mat(), dst);
ASSERT_EQ(1, dst.rows);
ASSERT_EQ(MatType(CV_32FC2), MatType(dst.type()));
std::vector<cv::Point2f> dst_gold;
cv::projectPoints(src, rvec, tvec, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), dst_gold);
ASSERT_EQ(dst_gold.size(), static_cast<size_t>(dst.cols));
cv::Mat h_dst(dst);
for (size_t i = 0; i < dst_gold.size(); ++i)
{
cv::Point2f res = h_dst.at<cv::Point2f>(0, (int)i);
cv::Point2f res_gold = dst_gold[i];
ASSERT_LE(cv::norm(res_gold - res) / cv::norm(res_gold), 1e-3f);
}
}
catch (...)
{
cv::gpu::resetDevice();
throw;
ASSERT_LE(cv::norm(res_gold - res) / cv::norm(res_gold), 1e-3f);
}
}
@@ -317,36 +277,28 @@ struct SolvePnPRansac : testing::TestWithParam<cv::gpu::DeviceInfo>
TEST_P(SolvePnPRansac, Accuracy)
{
try
{
cv::Mat object = randomMat(cv::Size(5000, 1), CV_32FC3, 0, 100);
cv::Mat camera_mat = randomMat(cv::Size(3, 3), CV_32F, 0.5, 1);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
cv::Mat object = randomMat(cv::Size(5000, 1), CV_32FC3, 0, 100);
cv::Mat camera_mat = randomMat(cv::Size(3, 3), CV_32F, 0.5, 1);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
std::vector<cv::Point2f> image_vec;
cv::Mat rvec_gold;
cv::Mat tvec_gold;
rvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
tvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), image_vec);
std::vector<cv::Point2f> image_vec;
cv::Mat rvec_gold;
cv::Mat tvec_gold;
rvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
tvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), image_vec);
cv::Mat rvec, tvec;
std::vector<int> inliers;
cv::gpu::solvePnPRansac(object, cv::Mat(1, (int)image_vec.size(), CV_32FC2, &image_vec[0]),
camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)),
rvec, tvec, false, 200, 2.f, 100, &inliers);
cv::Mat rvec, tvec;
std::vector<int> inliers;
cv::gpu::solvePnPRansac(object, cv::Mat(1, (int)image_vec.size(), CV_32FC2, &image_vec[0]),
camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)),
rvec, tvec, false, 200, 2.f, 100, &inliers);
ASSERT_LE(cv::norm(rvec - rvec_gold), 1e-3);
ASSERT_LE(cv::norm(tvec - tvec_gold), 1e-3);
}
catch (...)
{
cv::gpu::resetDevice();
throw;
}
ASSERT_LE(cv::norm(rvec - rvec_gold), 1e-3);
ASSERT_LE(cv::norm(tvec - tvec_gold), 1e-3);
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, SolvePnPRansac, ALL_DEVICES);
@@ -374,24 +326,16 @@ PARAM_TEST_CASE(ReprojectImageTo3D, cv::gpu::DeviceInfo, cv::Size, MatDepth, Use
TEST_P(ReprojectImageTo3D, Accuracy)
{
try
{
cv::Mat disp = randomMat(size, depth, 5.0, 30.0);
cv::Mat Q = randomMat(cv::Size(4, 4), CV_32FC1, 0.1, 1.0);
cv::Mat disp = randomMat(size, depth, 5.0, 30.0);
cv::Mat Q = randomMat(cv::Size(4, 4), CV_32FC1, 0.1, 1.0);
cv::gpu::GpuMat dst;
cv::gpu::reprojectImageTo3D(loadMat(disp, useRoi), dst, Q, 3);
cv::gpu::GpuMat dst;
cv::gpu::reprojectImageTo3D(loadMat(disp, useRoi), dst, Q, 3);
cv::Mat dst_gold;
cv::reprojectImageTo3D(disp, dst_gold, Q, false);
cv::Mat dst_gold;
cv::reprojectImageTo3D(disp, dst_gold, Q, false);
EXPECT_MAT_NEAR(dst_gold, dst, 1e-5);
}
catch (...)
{
cv::gpu::resetDevice();
throw;
}
EXPECT_MAT_NEAR(dst_gold, dst, 1e-5);
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, ReprojectImageTo3D, testing::Combine(