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fixed cuda capable checks

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matlabbe
2026-06-10 20:07:30 -07:00
parent b9fe30970a
commit e75c31238e
6 changed files with 36 additions and 31 deletions
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corelib/test/CMakeLists.txt
-3
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@@ -30,7 +30,6 @@ add_test(NAME test_util3d_registration COMMAND test_util3d_registration)
add_executable(test_util3d_features test_util3d_features.cpp)
target_link_libraries(test_util3d_features gtest_main rtabmap_core)
add_test(NAME test_util3d_features COMMAND test_util3d_features)
set_tests_properties(test_util3d_features PROPERTIES TIMEOUT 600)
#util3d_correspondences.h
add_executable(test_util3d_correspondences test_util3d_correspondences.cpp)
@@ -71,7 +70,6 @@ add_test(NAME test_transform COMMAND test_transform)
add_executable(test_stereo_dense test_stereo_dense.cpp)
target_link_libraries(test_stereo_dense gtest_main rtabmap_core)
add_test(NAME test_stereo_dense COMMAND test_stereo_dense)
set_tests_properties(test_stereo_dense PROPERTIES TIMEOUT 600)
#Stereo.h (tests both BlockMatching and OpticalFlow strategies)
add_executable(test_stereo test_stereo.cpp)
@@ -162,7 +160,6 @@ add_test(NAME test_landmark COMMAND test_landmark)
add_executable(test_localgrid test_localgrid.cpp)
target_link_libraries(test_localgrid gtest_main rtabmap_core)
add_test(NAME test_localgrid COMMAND test_localgrid)
set_tests_properties(test_localgrid PROPERTIES TIMEOUT 600)
#Features2d.h
add_executable(test_features2d test_features2d.cpp)
corelib/test/test_rtabmap_integration.cpp
+11 -3
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@@ -2029,7 +2029,7 @@ TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
// Probe GPU availability once per detector. Build the temp instance
// with the same asset paths the actual run uses; otherwise SuperPoint
// variants log a (harmless) load failure.
bool useGpu = false;
bool gpuAvailable = false;
{
ParametersMap probeParams;
if(detectorType == Feature2D::kFeatureSuperPointTorch)
@@ -2042,9 +2042,15 @@ TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
probeParams[Parameters::kSuperPointRpautratModelPath()] = superpointRpautratModel;
}
std::unique_ptr<Feature2D> probe(Feature2D::create(detectorType, probeParams));
if(probe) useGpu = probe->isGpuAvailable();
if(probe) gpuAvailable = probe->isGpuAvailable();
}
// GPU-capable detectors are exercised twice (CPU + GPU) so both code
// paths stay covered. Detectors that don't report a GPU path run only
// once.
std::vector<bool> gpuVariants = {false};
if(gpuAvailable) gpuVariants.push_back(true);
// Run only the default likelihood variant for every detector;
// the TF-IDF variant adds a second run on the default detector
// (kFeatureGfttOrb) so the alternative likelihood path stays
@@ -2052,6 +2058,7 @@ TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
std::vector<bool> tfIdfVariants = {false};
if(detectorType == defaultDetector) tfIdfVariants.push_back(true);
for(bool useGpu : gpuVariants)
for(bool tfIdfUsed : tfIdfVariants)
{
const std::string detectorLabel = typeName
@@ -2079,9 +2086,10 @@ TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
params[Parameters::kKAZEThreshold()] = "0.0001";
// GFTT-specific: tighten the minimum keypoint separation (default
// 7 px) so more candidates fit per frame.
params[Parameters::kGFTTMinDistance()] = "5";
params[Parameters::kGFTTMinDistance()] = "3";
params[Parameters::kMemBadSignaturesIgnored()] = "false";
params[Parameters::kMemRehearsalSimilarity()] = "0.20";
params[Parameters::kBRIEFBytes()] = "64";
// Backend-specific asset paths + GPU/CUDA toggle. `useGpu` only
// reaches here when this detector reports a usable GPU path; we
corelib/test/test_vwdictionary.cpp
+14 -14
View File
@@ -62,17 +62,11 @@ TEST_F(VWDictionaryTest, AddNewWordsIncremental)
for(VWDictionary::NNStrategy strategy : strategies)
{
// Reset dictionary for each strategy
dict->clear();
dict->setNNStrategy(strategy);
EXPECT_TRUE(dict->isIncremental());
if(strategy == VWDictionary::kNNBruteForceGPU)
{
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
if(!cv::gpu::getCudaEnabledDeviceCount())
if(cv::gpu::getCudaEnabledDeviceCount() <= 0)
{
strategy = VWDictionary::kNNBruteForce;
}
@@ -81,7 +75,7 @@ TEST_F(VWDictionaryTest, AddNewWordsIncremental)
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
if(!cv::cuda::getCudaEnabledDeviceCount())
if(cv::cuda::getCudaEnabledDeviceCount() <= 0)
{
strategy = VWDictionary::kNNBruteForce;
}
@@ -90,6 +84,12 @@ TEST_F(VWDictionaryTest, AddNewWordsIncremental)
#endif
#endif
}
// Reset dictionary for each strategy
dict->clear();
dict->setNNStrategy(strategy);
EXPECT_TRUE(dict->isIncremental());
EXPECT_EQ(dict->getNNStrategy(), strategy);
// Add initial words to dictionary (2D descriptors)
@@ -636,15 +636,11 @@ TEST_F(VWDictionaryTest, SerializeDeserializeIndex)
for(VWDictionary::NNStrategy strategy : strategies)
{
// Reset dictionary for each strategy
dict->clear();
dict->setNNStrategy(strategy);
if(strategy == VWDictionary::kNNBruteForceGPU)
{
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
if(!cv::gpu::getCudaEnabledDeviceCount())
if(cv::gpu::getCudaEnabledDeviceCount() <= 0)
{
continue; // Skip if no GPU available
}
@@ -653,7 +649,7 @@ TEST_F(VWDictionaryTest, SerializeDeserializeIndex)
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
if(!cv::cuda::getCudaEnabledDeviceCount())
if(cv::cuda::getCudaEnabledDeviceCount() <= 0)
{
continue; // Skip if no GPU available
}
@@ -663,6 +659,10 @@ TEST_F(VWDictionaryTest, SerializeDeserializeIndex)
#endif
}
// Reset dictionary for each strategy
dict->clear();
dict->setNNStrategy(strategy);
// Add words and build index
cv::Mat descriptors(5, 32, CV_32F);
cv::randu(descriptors, cv::Scalar(0), cv::Scalar(1));