49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
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#include "perf_precomp.hpp"
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using namespace std;
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using namespace cv;
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using namespace perf;
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typedef std::tr1::tuple<std::string, cv::Size> String_Size_t;
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typedef perf::TestBaseWithParam<int> PointsNumber;
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PERF_TEST_P(PointsNumber, solvePnP, testing::Values(4, 3*9, 7*13)
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)
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{
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int pointsNum = GetParam();
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vector<Point2f> points2d(pointsNum);
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vector<Point3f> points3d(pointsNum);
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Mat rvec = Mat::zeros(3, 1, CV_32FC1);
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Mat tvec = Mat::zeros(3, 1, CV_32FC1);
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Mat distortion = Mat::zeros(5, 1, CV_32FC1);
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Mat intrinsics = Mat::eye(3, 3, CV_32FC1);
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intrinsics.at<float> (0, 0) = 400.0;
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intrinsics.at<float> (1, 1) = 400.0;
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intrinsics.at<float> (0, 2) = 640 / 2;
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intrinsics.at<float> (1, 2) = 480 / 2;
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warmup(points3d, WARMUP_RNG);
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warmup(rvec, WARMUP_RNG);
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warmup(tvec, WARMUP_RNG);
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projectPoints(points3d, rvec, tvec, intrinsics, distortion, points2d);
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//add noise
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Mat noise(1, points2d.size(), CV_32FC2);
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randu(noise, 0, 0.01);
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add(points2d, noise, points2d);
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declare.in(points3d, points2d);
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TEST_CYCLE(1000)
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{
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solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false);
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}
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SANITY_CHECK(rvec);
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SANITY_CHECK(tvec);
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}
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