151 lines
4.2 KiB
C++
151 lines
4.2 KiB
C++
#include "mediapipe/calculators/util/inverse_matrix_calculator.h"
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#include <array>
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#include "absl/memory/memory.h"
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#include "mediapipe/framework/calculator_framework.h"
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#include "mediapipe/framework/calculator_runner.h"
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#include "mediapipe/framework/port/gtest.h"
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#include "mediapipe/framework/port/integral_types.h"
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#include "mediapipe/framework/port/parse_text_proto.h"
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#include "mediapipe/framework/port/status_matchers.h"
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namespace mediapipe {
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namespace {
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void RunTest(const std::array<float, 16>& matrix,
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const std::array<float, 16>& expected_inverse_matrix) {
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auto graph_config = mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(
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R"pb(
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input_stream: "matrix"
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node {
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calculator: "InverseMatrixCalculator"
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input_stream: "MATRIX:matrix"
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output_stream: "MATRIX:inverse_matrix"
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}
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)pb");
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std::vector<Packet> output_packets;
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tool::AddVectorSink("inverse_matrix", &graph_config, &output_packets);
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// Run the graph.
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CalculatorGraph graph;
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MP_ASSERT_OK(graph.Initialize(graph_config));
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MP_ASSERT_OK(graph.StartRun({}));
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MP_ASSERT_OK(graph.AddPacketToInputStream(
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"matrix",
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MakePacket<std::array<float, 16>>(std::move(matrix)).At(Timestamp(0))));
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MP_ASSERT_OK(graph.WaitUntilIdle());
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ASSERT_THAT(output_packets, testing::SizeIs(1));
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const auto& inverse_matrix = output_packets[0].Get<std::array<float, 16>>();
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EXPECT_THAT(
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inverse_matrix,
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testing::Pointwise(testing::FloatEq(),
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absl::MakeSpan(expected_inverse_matrix.data(),
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expected_inverse_matrix.size())));
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// Fully close graph at end, otherwise calculator+tensors are destroyed
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// after calling WaitUntilDone().
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MP_ASSERT_OK(graph.CloseInputStream("matrix"));
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MP_ASSERT_OK(graph.WaitUntilDone());
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}
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TEST(InverseMatrixCalculatorTest, Identity) {
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// clang-format off
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std::array<float, 16> matrix = {
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1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f,
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};
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std::array<float, 16> expected_inverse_matrix = {
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1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f,
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};
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// clang-format on
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RunTest(matrix, expected_inverse_matrix);
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}
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TEST(InverseMatrixCalculatorTest, Translation) {
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// clang-format off
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std::array<float, 16> matrix = {
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1.0f, 0.0f, 0.0f, 2.0f,
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0.0f, 1.0f, 0.0f, -5.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f,
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};
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std::array<float, 16> expected_inverse_matrix = {
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1.0f, 0.0f, 0.0f, -2.0f,
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0.0f, 1.0f, 0.0f, 5.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f,
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};
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// clang-format on
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RunTest(matrix, expected_inverse_matrix);
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}
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TEST(InverseMatrixCalculatorTest, Scale) {
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// clang-format off
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std::array<float, 16> matrix = {
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5.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 2.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f,
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};
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std::array<float, 16> expected_inverse_matrix = {
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0.2f, 0.0f, 0.0f, 0.0f,
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0.0f, 0.5f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f,
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};
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// clang-format on
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RunTest(matrix, expected_inverse_matrix);
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}
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TEST(InverseMatrixCalculatorTest, Rotation90) {
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// clang-format off
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std::array<float, 16> matrix = {
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0.0f, -1.0f, 0.0f, 0.0f,
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1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f,
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};
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std::array<float, 16> expected_inverse_matrix = {
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0.0f, 1.0f, 0.0f, 0.0f,
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-1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f,
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};
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// clang-format on
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RunTest(matrix, expected_inverse_matrix);
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}
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TEST(InverseMatrixCalculatorTest, CheckPrecision) {
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// clang-format off
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std::array<float, 16> matrix = {
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0.00001f, 0.0f, 0.0f, 0.0f,
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0.0f, 0.00001f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f,
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};
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std::array<float, 16> expected_inverse_matrix = {
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100000.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 100000.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f,
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};
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// clang-format on
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RunTest(matrix, expected_inverse_matrix);
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}
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} // namespace
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} // namespace mediapipe
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