Initial commit: Speckle-Scanner 3D pipeline with setup README

2026-06-10 03:09:05 +05:00
commit 1765934846
375 changed files with 123081 additions and 0 deletions
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+#include <gtest/gtest.h>
+
+#include "host_image.h"
+#include "device_image.h"
+#include "test_utility.h"
+#include "internal.h"
+
+namespace sgm
+{
+
+template <typename T>
+static void census_transform_9x7_(const HostImage& src, HostImage& dst)
+{
+	constexpr int RADIUS_U = 9 / 2;
+	constexpr int RADIUS_V = 7 / 2;
+
+	dst.fill_zero();
+
+	for (int v = RADIUS_V; v < src.rows - RADIUS_V; v++) {
+		uint64_t* ptrDst = dst.ptr<uint64_t>(v);
+		for (int u = RADIUS_U; u < src.cols - RADIUS_U; u++) {
+			uint64_t f = 0;
+			for (int dv = -RADIUS_V; dv <= RADIUS_V; dv++) {
+				for (int du = -RADIUS_U; du <= RADIUS_U; du++) {
+					if (du != 0 && dv != 0) {
+						f <<= 1;
+						f |= (src.ptr<T>(v)[u] > src.ptr<T>(v + dv)[u + du]);
+					}
+				}
+			}
+			ptrDst[u] = f;
+		}
+	}
+}
+
+template <typename T>
+static void symmetric_census_9x7_(const HostImage& src, HostImage& dst)
+{
+	constexpr int RADIUS_U = 9 / 2;
+	constexpr int RADIUS_V = 7 / 2;
+
+	dst.fill_zero();
+
+	for (int v = RADIUS_V; v < src.rows - RADIUS_V; v++) {
+		uint32_t* ptrDst = dst.ptr<uint32_t>(v);
+		for (int u = RADIUS_U; u < src.cols - RADIUS_U; u++) {
+			uint32_t f = 0;
+			for (int dv = -RADIUS_V; dv <= 0; dv++) {
+				for (int du = -RADIUS_U; du <= (dv != 0 ? RADIUS_U : -1); du++) {
+					f <<= 1;
+					f |= (src.ptr<T>(v + dv)[u + du] > src.ptr<T>(v - dv)[u - du]);
+				}
+			}
+			ptrDst[u] = f;
+		}
+	}
+}
+
+void census_transform(const HostImage& src, HostImage& dst, CensusType type)
+{
+	if (type == CensusType::CENSUS_9x7) {
+		dst.create(src.rows, src.cols, SGM_64U);
+		if (src.type == SGM_8U)
+			census_transform_9x7_<uint8_t>(src, dst);
+		if (src.type == SGM_16U)
+			census_transform_9x7_<uint16_t>(src, dst);
+		if (src.type == SGM_32U)
+			census_transform_9x7_<uint32_t>(src, dst);
+	}
+	if (type == CensusType::SYMMETRIC_CENSUS_9x7) {
+		dst.create(src.rows, src.cols, SGM_32U);
+		if (src.type == SGM_8U)
+			symmetric_census_9x7_<uint8_t>(src, dst);
+		if (src.type == SGM_16U)
+			symmetric_census_9x7_<uint16_t>(src, dst);
+		if (src.type == SGM_32U)
+			symmetric_census_9x7_<uint32_t>(src, dst);
+	}
+}
+
+} // namespace sgm
+
+TEST(CensusTransformTest, RandomU8)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_8U;
+	const ImageType dtype = SGM_64U;
+	const CensusType censusType = CensusType::CENSUS_9x7;
+
+	HostImage h_src(h, w, stype, pitch), h_dst(h, w, dtype);
+	DeviceImage d_src(h, w, stype, pitch), d_dst(h, w, dtype);
+
+	random_fill(h_src);
+	d_src.upload(h_src.data);
+	d_dst.fill_zero();
+
+	census_transform(h_src, h_dst, censusType);
+	census_transform(d_src, d_dst, censusType);
+
+	EXPECT_TRUE(equals(h_dst, d_dst));
+}
+
+TEST(CensusTransformTest, RandomU16)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_16U;
+	const ImageType dtype = SGM_64U;
+	const CensusType censusType = CensusType::CENSUS_9x7;
+
+	HostImage h_src(h, w, stype, pitch), h_dst(h, w, dtype);
+	DeviceImage d_src(h, w, stype, pitch), d_dst(h, w, dtype);
+
+	random_fill(h_src);
+	d_src.upload(h_src.data);
+	d_dst.fill_zero();
+
+	census_transform(h_src, h_dst, censusType);
+	census_transform(d_src, d_dst, censusType);
+
+	EXPECT_TRUE(equals(h_dst, d_dst));
+}
+
+TEST(CensusTransformTest, RandomU32)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_32U;
+	const ImageType dtype = SGM_64U;
+	const CensusType censusType = CensusType::CENSUS_9x7;
+
+	HostImage h_src(h, w, stype, pitch), h_dst(h, w, dtype);
+	DeviceImage d_src(h, w, stype, pitch), d_dst(h, w, dtype);
+
+	random_fill(h_src);
+	d_src.upload(h_src.data);
+	d_dst.fill_zero();
+
+	census_transform(h_src, h_dst, censusType);
+	census_transform(d_src, d_dst, censusType);
+
+	EXPECT_TRUE(equals(h_dst, d_dst));
+}
+
+TEST(SymmetricCensusTest, RandomU8)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_8U;
+	const ImageType dtype = SGM_32U;
+	const CensusType censusType = CensusType::SYMMETRIC_CENSUS_9x7;
+
+	HostImage h_src(h, w, stype, pitch), h_dst(h, w, dtype);
+	DeviceImage d_src(h, w, stype, pitch), d_dst(h, w, dtype);
+
+	random_fill(h_src);
+	d_src.upload(h_src.data);
+	d_dst.fill_zero();
+
+	census_transform(h_src, h_dst, censusType);
+	census_transform(d_src, d_dst, censusType);
+
+	EXPECT_TRUE(equals(h_dst, d_dst));
+}
+
+TEST(SymmetricCensusTest, Random16U)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_16U;
+	const ImageType dtype = SGM_32U;
+	const CensusType censusType = CensusType::SYMMETRIC_CENSUS_9x7;
+
+	HostImage h_src(h, w, stype, pitch), h_dst(h, w, dtype);
+	DeviceImage d_src(h, w, stype, pitch), d_dst(h, w, dtype);
+
+	random_fill(h_src);
+	d_src.upload(h_src.data);
+	d_dst.fill_zero();
+
+	census_transform(h_src, h_dst, censusType);
+	census_transform(d_src, d_dst, censusType);
+
+	EXPECT_TRUE(equals(h_dst, d_dst));
+}
+
+TEST(SymmetricCensusTest, Random32U)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_32U;
+	const ImageType dtype = SGM_32U;
+	const CensusType censusType = CensusType::SYMMETRIC_CENSUS_9x7;
+
+	HostImage h_src(h, w, stype, pitch), h_dst(h, w, dtype);
+	DeviceImage d_src(h, w, stype, pitch), d_dst(h, w, dtype);
+
+	random_fill(h_src);
+	d_src.upload(h_src.data);
+	d_dst.fill_zero();
+
+	census_transform(h_src, h_dst, censusType);
+	census_transform(d_src, d_dst, censusType);
+
+	EXPECT_TRUE(equals(h_dst, d_dst));
+}