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fixed bug #1367 in CSBP

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This commit is contained in:
Anatoly Baksheev
2012-03-31 22:07:16 +00:00
parent d2bc0065a6
commit a22641aa9c
5 changed files with 159 additions and 169 deletions
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modules/gpu/test/interpolation.hpp
+6 -6
View File
@@ -85,7 +85,7 @@ template <typename T> struct CubicInterpolator
{
static float getValue(float p[4], float x)
{
return p[1] + 0.5 * x * (p[2] - p[0] + x*(2.0*p[0] - 5.0*p[1] + 4.0*p[2] - p[3] + x*(3.0*(p[1] - p[2]) + p[3] - p[0])));
return static_cast<float>(p[1] + 0.5 * x * (p[2] - p[0] + x*(2.0*p[0] - 5.0*p[1] + 4.0*p[2] - p[3] + x*(3.0*(p[1] - p[2]) + p[3] - p[0]))));
}
static float getValue(float p[4][4], float x, float y)
@@ -107,13 +107,13 @@ template <typename T> struct CubicInterpolator
float vals[4][4] =
{
{readVal<T>(src, iy - 2, ix - 2, c, border_type, borderVal), readVal<T>(src, iy - 2, ix - 1, c, border_type, borderVal), readVal<T>(src, iy - 2, ix, c, border_type, borderVal), readVal<T>(src, iy - 2, ix + 1, c, border_type, borderVal)},
{readVal<T>(src, iy - 1, ix - 2, c, border_type, borderVal), readVal<T>(src, iy - 1, ix - 1, c, border_type, borderVal), readVal<T>(src, iy - 1, ix, c, border_type, borderVal), readVal<T>(src, iy - 1, ix + 1, c, border_type, borderVal)},
{readVal<T>(src, iy , ix - 2, c, border_type, borderVal), readVal<T>(src, iy , ix - 1, c, border_type, borderVal), readVal<T>(src, iy , ix, c, border_type, borderVal), readVal<T>(src, iy , ix + 1, c, border_type, borderVal)},
{readVal<T>(src, iy + 1, ix - 2, c, border_type, borderVal), readVal<T>(src, iy + 1, ix - 1, c, border_type, borderVal), readVal<T>(src, iy + 1, ix, c, border_type, borderVal), readVal<T>(src, iy + 1, ix + 1, c, border_type, borderVal)},
{(float)readVal<T>(src, iy - 2, ix - 2, c, border_type, borderVal), (float)readVal<T>(src, iy - 2, ix - 1, c, border_type, borderVal), (float)readVal<T>(src, iy - 2, ix, c, border_type, borderVal), (float)readVal<T>(src, iy - 2, ix + 1, c, border_type, borderVal)},
{(float)readVal<T>(src, iy - 1, ix - 2, c, border_type, borderVal), (float)readVal<T>(src, iy - 1, ix - 1, c, border_type, borderVal), (float)readVal<T>(src, iy - 1, ix, c, border_type, borderVal), (float)readVal<T>(src, iy - 1, ix + 1, c, border_type, borderVal)},
{(float)readVal<T>(src, iy , ix - 2, c, border_type, borderVal), (float)readVal<T>(src, iy , ix - 1, c, border_type, borderVal), (float)readVal<T>(src, iy , ix, c, border_type, borderVal), (float)readVal<T>(src, iy , ix + 1, c, border_type, borderVal)},
{(float)readVal<T>(src, iy + 1, ix - 2, c, border_type, borderVal), (float)readVal<T>(src, iy + 1, ix - 1, c, border_type, borderVal), (float)readVal<T>(src, iy + 1, ix, c, border_type, borderVal), (float)readVal<T>(src, iy + 1, ix + 1, c, border_type, borderVal)},
};
return cv::saturate_cast<T>(getValue(vals, (x - ix + 2.0) / 4.0, (y - iy + 2.0) / 4.0));
return cv::saturate_cast<T>(getValue(vals, static_cast<float>((x - ix + 2.0) / 4.0), static_cast<float>((y - iy + 2.0) / 4.0)));
}
};
modules/gpu/test/test_calib3d.cpp
+37 -37
View File
@@ -299,43 +299,43 @@ TEST_P(SolvePnPRansac, Accuracy)
ASSERT_LE(cv::norm(tvec - tvec_gold), 1e-3);
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, SolvePnPRansac, ALL_DEVICES);
////////////////////////////////////////////////////////////////////////////////
// reprojectImageTo3D
PARAM_TEST_CASE(ReprojectImageTo3D, cv::gpu::DeviceInfo, cv::Size, MatDepth, UseRoi)
{
cv::gpu::DeviceInfo devInfo;
cv::Size size;
int depth;
bool useRoi;
virtual void SetUp()
{
devInfo = GET_PARAM(0);
size = GET_PARAM(1);
depth = GET_PARAM(2);
useRoi = GET_PARAM(3);
cv::gpu::setDevice(devInfo.deviceID());
}
};
TEST_P(ReprojectImageTo3D, Accuracy)
{
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::Mat dst_gold;
cv::reprojectImageTo3D(disp, dst_gold, Q, false);
EXPECT_MAT_NEAR(dst_gold, dst, 1e-5);
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, SolvePnPRansac, ALL_DEVICES);
////////////////////////////////////////////////////////////////////////////////
// reprojectImageTo3D
PARAM_TEST_CASE(ReprojectImageTo3D, cv::gpu::DeviceInfo, cv::Size, MatDepth, UseRoi)
{
cv::gpu::DeviceInfo devInfo;
cv::Size size;
int depth;
bool useRoi;
virtual void SetUp()
{
devInfo = GET_PARAM(0);
size = GET_PARAM(1);
depth = GET_PARAM(2);
useRoi = GET_PARAM(3);
cv::gpu::setDevice(devInfo.deviceID());
}
};
TEST_P(ReprojectImageTo3D, Accuracy)
{
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::Mat dst_gold;
cv::reprojectImageTo3D(disp, dst_gold, Q, false);
EXPECT_MAT_NEAR(dst_gold, dst, 1e-5);
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, ReprojectImageTo3D, testing::Combine(
ALL_DEVICES,
DIFFERENT_SIZES,