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/*
******************************************************
* Copyright (c) 2014, ArrayFire
* All rights reserved.
*
* This file is distributed under 3-clause BSD license.
* The complete license agreement can be obtained at:
* http://arrayfire.com/licenses/BSD-3-Clause
*******************************************************
*/
#
include
<
arrayfire.h
>
#
include
<
gtest/gtest.h
>
#
include
<
testHelpers.hpp
>
#
include
<
af/compatible.h
>
#
include
<
af/dim4.hpp
>
#
include
<
af/traits.hpp
>
#
include
<
cmath
>
#
include
<
string
>
#
include
<
typeinfo
>
#
include
<
vector
>
using
af::array;
using
af::dim4;
using
af::features;
using
af::loadImage;
using
std::abs;
using
std::cout;
using
std::endl;
using
std::string;
using
std::vector;
typedef
struct
{
float
f[
5
];
unsigned
d[
8
];
}
feat_desc_t
;
typedef
struct
{
float
f[
5
];
}
feat_t
;
typedef
struct
{
unsigned
d[
8
];
}
desc_t
;
static
bool
feat_cmp
(
feat_desc_t
i,
feat_desc_t
j) {
for
(
int
k =
0
; k <
5
; k++)
if
(i.
f
[k] != j.
f
[k])
return
(i.
f
[k] < j.
f
[k]);
return
false
;
}
static
void
array_to_feat_desc
(vector<
feat_desc_t
>& feat,
float
* x,
float
* y,
float
* score,
float
* ori,
float
* size,
unsigned
* desc,
unsigned
nfeat) {
feat.
resize
(nfeat);
for
(
size_t
i =
0
; i < feat.
size
(); i++) {
feat[i].
f
[
0
] = x[i];
feat[i].
f
[
1
] = y[i];
feat[i].
f
[
2
] = score[i];
feat[i].
f
[
3
] = ori[i];
feat[i].
f
[
4
] = size[i];
for
(
unsigned
j =
0
; j <
8
; j++) feat[i].
d
[j] = desc[i *
8
+ j];
}
}
static
void
array_to_feat_desc
(vector<
feat_desc_t
>& feat,
float
* x,
float
* y,
float
* score,
float
* ori,
float
* size,
vector<vector<
unsigned
>>& desc,
unsigned
nfeat) {
feat.
resize
(nfeat);
for
(
size_t
i =
0
; i < feat.
size
(); i++) {
feat[i].
f
[
0
] = x[i];
feat[i].
f
[
1
] = y[i];
feat[i].
f
[
2
] = score[i];
feat[i].
f
[
3
] = ori[i];
feat[i].
f
[
4
] = size[i];
for
(
unsigned
j =
0
; j <
8
; j++) feat[i].
d
[j] = desc[i][j];
}
}
static
void
split_feat_desc
(vector<
feat_desc_t
>& fd, vector<
feat_t
>& f,
vector<
desc_t
>& d) {
f.
resize
(fd.
size
());
d.
resize
(fd.
size
());
for
(
size_t
i =
0
; i < fd.
size
(); i++) {
f[i].
f
[
0
] = fd[i].
f
[
0
];
f[i].
f
[
1
] = fd[i].
f
[
1
];
f[i].
f
[
2
] = fd[i].
f
[
2
];
f[i].
f
[
3
] = fd[i].
f
[
3
];
f[i].
f
[
4
] = fd[i].
f
[
4
];
for
(
unsigned
j =
0
; j <
8
; j++) d[i].
d
[j] = fd[i].
d
[j];
}
}
static
unsigned
popcount
(
unsigned
x) {
x = x - ((x >>
1
) &
0x55555555
);
x = (x &
0x33333333
) + ((x >>
2
) &
0x33333333
);
x = (x + (x >>
4
)) &
0x0F0F0F0F
;
x = x + (x >>
8
);
x = x + (x >>
16
);
return
x &
0x0000003F
;
}
bool
compareHamming
(
int
data_size,
unsigned
* cpu,
unsigned
* gpu,
unsigned
thr =
1
) {
bool
ret =
true
;
for
(
int
i =
0
; i < data_size; i++) {
unsigned
x = (cpu[i] ^ gpu[i]);
if
(
popcount
(x) > thr) {
ret =
false
;
cout << endl <<
"
@compareHamming: first mismatch.
"
<< endl;
cout <<
"
(cpu,gpu,cpu-gpu)[
"
<< i <<
"
] : {
"
<< cpu[i] <<
"
,
"
<< gpu[i] <<
"
,
"
<< cpu[i] - gpu[i] <<
"
}
"
<< endl;
cout << endl;
break
;
}
}
return
ret;
}
template
<
typename
T>
class
ORB
: public ::testing::Test {
public:
virtual
void
SetUp
() {}
};
typedef
::testing::Types<
float
,
double
> TestTypes;
TYPED_TEST_SUITE
(
ORB
, TestTypes);
template
<
typename
T>
void
orbTest
(string pTestFile) {
SUPPORTED_TYPE_CHECK
(T);
IMAGEIO_ENABLED_CHECK
();
vector<dim4> inDims;
vector<string> inFiles;
vector<vector<
float
>> goldFeat;
vector<vector<
unsigned
>> goldDesc;
readImageFeaturesDescriptors<
unsigned
>(pTestFile, inDims, inFiles, goldFeat,
goldDesc);
size_t
testCount = inDims.
size
();
for
(
size_t
testId =
0
; testId < testCount; ++testId) {
af_array inArray_f32 =
0
;
af_array inArray =
0
;
af_array desc =
0
;
af_features feat;
inFiles[testId].
insert
(
0
,
string
(
TEST_DIR
"
/orb/
"
));
ASSERT_SUCCESS
(
af_load_image
(&inArray_f32, inFiles[testId].
c_str
(),
false
));
ASSERT_SUCCESS
(conv_image<T>(&inArray, inArray_f32));
ASSERT_SUCCESS
(
af_orb
(&feat, &desc, inArray,
20
.
0f
,
400
,
1
.
2f
,
8
,
true
));
dim_t
n =
0
;
af_array x, y, score, orientation, size;
ASSERT_SUCCESS
(
af_get_features_num
(&n, feat));
ASSERT_SUCCESS
(
af_get_features_xpos
(&x, feat));
ASSERT_SUCCESS
(
af_get_features_ypos
(&y, feat));
ASSERT_SUCCESS
(
af_get_features_score
(&score, feat));
ASSERT_SUCCESS
(
af_get_features_orientation
(&orientation, feat));
ASSERT_SUCCESS
(
af_get_features_size
(&size, feat));
float
* outX =
new
float
[n];
float
* outY =
new
float
[n];
float
* outScore =
new
float
[n];
float
* outOrientation =
new
float
[n];
float
* outSize =
new
float
[n];
dim_t
descSize;
ASSERT_SUCCESS
(
af_get_elements
(&descSize, desc));
unsigned
* outDesc =
new
unsigned
[descSize];
ASSERT_SUCCESS
(
af_get_data_ptr
((
void
*)outX, x));
ASSERT_SUCCESS
(
af_get_data_ptr
((
void
*)outY, y));
ASSERT_SUCCESS
(
af_get_data_ptr
((
void
*)outScore, score));
ASSERT_SUCCESS
(
af_get_data_ptr
((
void
*)outOrientation, orientation));
ASSERT_SUCCESS
(
af_get_data_ptr
((
void
*)outSize, size));
ASSERT_SUCCESS
(
af_get_data_ptr
((
void
*)outDesc, desc));
vector<
feat_desc_t
> out_feat_desc;
array_to_feat_desc
(out_feat_desc, outX, outY, outScore, outOrientation,
outSize, outDesc, n);
vector<
feat_desc_t
> gold_feat_desc;
array_to_feat_desc
(gold_feat_desc, &goldFeat[
0
].
front
(),
&goldFeat[
1
].
front
(), &goldFeat[
2
].
front
(),
&goldFeat[
3
].
front
(), &goldFeat[
4
].
front
(), goldDesc,
goldFeat[
0
].
size
());
std::sort
(out_feat_desc.
begin
(), out_feat_desc.
end
(), feat_cmp);
std::sort
(gold_feat_desc.
begin
(), gold_feat_desc.
end
(), feat_cmp);
vector<
feat_t
> out_feat;
vector<
desc_t
> v_out_desc;
vector<
feat_t
> gold_feat;
vector<
desc_t
> v_gold_desc;
split_feat_desc
(out_feat_desc, out_feat, v_out_desc);
split_feat_desc
(gold_feat_desc, gold_feat, v_gold_desc);
for
(
int
elIter =
0
; elIter < (
int
)n; elIter++) {
ASSERT_EQ
(out_feat[elIter].
f
[
0
], gold_feat[elIter].
f
[
0
])
<<
"
at:
"
<< elIter << endl;
ASSERT_EQ
(out_feat[elIter].
f
[
1
], gold_feat[elIter].
f
[
1
])
<<
"
at:
"
<< elIter << endl;
ASSERT_LE
(
fabs
(out_feat[elIter].
f
[
2
] - gold_feat[elIter].
f
[
2
]),
1e-3
)
<<
"
at:
"
<< elIter << endl;
ASSERT_LE
(
fabs
(out_feat[elIter].
f
[
3
] - gold_feat[elIter].
f
[
3
]),
1e-3
)
<<
"
at:
"
<< elIter << endl;
ASSERT_LE
(
fabs
(out_feat[elIter].
f
[
4
] - gold_feat[elIter].
f
[
4
]),
1e-3
)
<<
"
at:
"
<< elIter << endl;
}
//
TODO: improve distance for single/double-precision interchangeability
EXPECT_TRUE
(
compareHamming
(descSize, (
unsigned
*)&v_out_desc[
0
],
(
unsigned
*)&v_gold_desc[
0
],
3
));
ASSERT_SUCCESS
(
af_release_array
(inArray));
ASSERT_SUCCESS
(
af_release_array
(inArray_f32));
ASSERT_SUCCESS
(
af_release_features
(feat));
ASSERT_SUCCESS
(
af_release_array
(desc));
delete[]
outX;
delete[]
outY;
delete[]
outScore;
delete[]
outOrientation;
delete[]
outSize;
delete[]
outDesc;
}
}
TYPED_TEST
(
ORB
, Square) {
UNSUPPORTED_BACKEND
(
AF_BACKEND_ONEAPI
);
orbTest<TypeParam>(
string
(
TEST_DIR
"
/orb/square.test
"
));
}
TYPED_TEST
(
ORB
, Lena) {
UNSUPPORTED_BACKEND
(
AF_BACKEND_ONEAPI
);
orbTest<TypeParam>(
string
(
TEST_DIR
"
/orb/lena.test
"
));
}
//
/////////////////////////////////// CPP ////////////////////////////////
//
TEST
(
ORB
,
CPP
) {
UNSUPPORTED_BACKEND
(
AF_BACKEND_ONEAPI
);
IMAGEIO_ENABLED_CHECK
();
vector<dim4> inDims;
vector<string> inFiles;
vector<vector<
float
>> goldFeat;
vector<vector<
unsigned
>> goldDesc;
readImageFeaturesDescriptors<
unsigned
>(
string
(
TEST_DIR
"
/orb/square.test
"
),
inDims, inFiles, goldFeat, goldDesc);
inFiles[
0
].
insert
(
0
,
string
(
TEST_DIR
"
/orb/
"
));
array in =
loadImage
(inFiles[
0
].
c_str
(),
false
);
features feat;
array desc;
orb
(feat, desc, in,
20
.
0f
,
400
,
1
.
2f
,
8
,
true
);
float
* outX =
new
float
[feat.
getNumFeatures
()];
float
* outY =
new
float
[feat.
getNumFeatures
()];
float
* outScore =
new
float
[feat.
getNumFeatures
()];
float
* outOrientation =
new
float
[feat.
getNumFeatures
()];
float
* outSize =
new
float
[feat.
getNumFeatures
()];
unsigned
* outDesc =
new
unsigned
[desc.
elements
()];
feat.
getX
().
host
(outX);
feat.
getY
().
host
(outY);
feat.
getScore
().
host
(outScore);
feat.
getOrientation
().
host
(outOrientation);
feat.
getSize
().
host
(outSize);
desc.
host
(outDesc);
vector<
feat_desc_t
> out_feat_desc;
array_to_feat_desc
(out_feat_desc, outX, outY, outScore, outOrientation,
outSize, outDesc, feat.
getNumFeatures
());
vector<
feat_desc_t
> gold_feat_desc;
array_to_feat_desc
(gold_feat_desc, &goldFeat[
0
].
front
(),
&goldFeat[
1
].
front
(), &goldFeat[
2
].
front
(),
&goldFeat[
3
].
front
(), &goldFeat[
4
].
front
(), goldDesc,
goldFeat[
0
].
size
());
std::sort
(out_feat_desc.
begin
(), out_feat_desc.
end
(), feat_cmp);
std::sort
(gold_feat_desc.
begin
(), gold_feat_desc.
end
(), feat_cmp);
vector<
feat_t
> out_feat;
vector<
desc_t
> v_out_desc;
vector<
feat_t
> gold_feat;
vector<
desc_t
> v_gold_desc;
split_feat_desc
(out_feat_desc, out_feat, v_out_desc);
split_feat_desc
(gold_feat_desc, gold_feat, v_gold_desc);
for
(
int
elIter =
0
; elIter < (
int
)feat.
getNumFeatures
(); elIter++) {
ASSERT_EQ
(out_feat[elIter].
f
[
0
], gold_feat[elIter].
f
[
0
])
<<
"
at:
"
<< elIter << endl;
ASSERT_EQ
(out_feat[elIter].
f
[
1
], gold_feat[elIter].
f
[
1
])
<<
"
at:
"
<< elIter << endl;
ASSERT_LE
(
fabs
(out_feat[elIter].
f
[
2
] - gold_feat[elIter].
f
[
2
]),
1e-3
)
<<
"
at:
"
<< elIter << endl;
ASSERT_LE
(
fabs
(out_feat[elIter].
f
[
3
] - gold_feat[elIter].
f
[
3
]),
1e-3
)
<<
"
at:
"
<< elIter << endl;
ASSERT_LE
(
fabs
(out_feat[elIter].
f
[
4
] - gold_feat[elIter].
f
[
4
]),
1e-3
)
<<
"
at:
"
<< elIter << endl;
}
//
TODO: improve distance for single/double-precision interchangeability
EXPECT_TRUE
(
compareHamming
(desc.
elements
(), (
unsigned
*)&v_out_desc[
0
],
(
unsigned
*)&v_gold_desc[
0
],
3
));
delete[]
outX;
delete[]
outY;
delete[]
outScore;
delete[]
outOrientation;
delete[]
outSize;
delete[]
outDesc;
}
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