OpenCV/opencv_contrib/modules/cudaimgproc/test/test_gftt.cpp

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#include "test_precomp.hpp"

#ifdef HAVE_CUDA

namespace opencv_test { namespace {

//////////////////////////////////////////////////////
// GoodFeaturesToTrack

namespace
{
    IMPLEMENT_PARAM_CLASS(MinDistance, double)
}

PARAM_TEST_CASE(GoodFeaturesToTrack, cv::cuda::DeviceInfo, MinDistance)
{
    cv::cuda::DeviceInfo devInfo;
    double minDistance;

    virtual void SetUp()
    {
        devInfo = GET_PARAM(0);
        minDistance = GET_PARAM(1);

        cv::cuda::setDevice(devInfo.deviceID());
    }
};

CUDA_TEST_P(GoodFeaturesToTrack, Accuracy)
{
    cv::Mat image = readImage("opticalflow/frame0.png", cv::IMREAD_GRAYSCALE);
    ASSERT_FALSE(image.empty());

    int maxCorners = 1000;
    double qualityLevel = 0.01;

    cv::Ptr<cv::cuda::CornersDetector> detector = cv::cuda::createGoodFeaturesToTrackDetector(image.type(), maxCorners, qualityLevel, minDistance);

    cv::cuda::GpuMat d_pts;
    detector->detect(loadMat(image), d_pts);

    ASSERT_FALSE(d_pts.empty());

    std::vector<cv::Point2f> pts(d_pts.cols);
    cv::Mat pts_mat(1, d_pts.cols, CV_32FC2, (void*) &pts[0]);
    d_pts.download(pts_mat);

    std::vector<cv::Point2f> pts_gold;
    cv::goodFeaturesToTrack(image, pts_gold, maxCorners, qualityLevel, minDistance);

    ASSERT_EQ(pts_gold.size(), pts.size());

    size_t mistmatch = 0;
    for (size_t i = 0; i < pts.size(); ++i)
    {
        cv::Point2i a = pts_gold[i];
        cv::Point2i b = pts[i];

        bool eq = std::abs(a.x - b.x) < 1 && std::abs(a.y - b.y) < 1;

        if (!eq)
            ++mistmatch;
    }

    double bad_ratio = static_cast<double>(mistmatch) / pts.size();

    ASSERT_LE(bad_ratio, 0.01);
}

CUDA_TEST_P(GoodFeaturesToTrack, EmptyCorners)
{
    int maxCorners = 1000;
    double qualityLevel = 0.01;

    cv::cuda::GpuMat src(100, 100, CV_8UC1, cv::Scalar::all(0));
    cv::cuda::GpuMat corners(1, maxCorners, CV_32FC2);

    cv::Ptr<cv::cuda::CornersDetector> detector = cv::cuda::createGoodFeaturesToTrackDetector(src.type(), maxCorners, qualityLevel, minDistance);

    detector->detect(src, corners);

    ASSERT_TRUE(corners.empty());
}

INSTANTIATE_TEST_CASE_P(CUDA_ImgProc, GoodFeaturesToTrack, testing::Combine(
    ALL_DEVICES,
    testing::Values(MinDistance(0.0), MinDistance(3.0))));


}} // namespace
#endif // HAVE_CUDA