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updated solvePnpRansac performance test

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This commit is contained in:
Alexey Spizhevoy
2011-03-07 13:36:47 +00:00
parent 673061fb17
commit 1d62fddd31
3 changed files with 38 additions and 26 deletions
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50
samples/gpu/performance/tests.cpp
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@@ -792,36 +792,40 @@ void InitSolvePnpRansac()
}
// It's not very correct test as solvePnP and solvePnpRansac use different algorithms internally
// TODO add proper test after CPU solvePnpRansac being added
TEST(solvePnpRansac)
{
InitSolvePnpRansac();
int num_points = 1000000;
for (int num_points = 5000; num_points <= 300000; num_points = int(num_points * 3.76))
{
SUBTEST << "num_points " << num_points;
Mat object; gen(object, 1, num_points, CV_32FC3, Scalar::all(0), Scalar::all(100));
Mat camera_mat; gen(camera_mat, 3, 3, CV_32F, 0.5, 1);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
Mat object; gen(object, 1, num_points, CV_32FC3, Scalar::all(10), Scalar::all(100));
Mat image; gen(image, 1, num_points, CV_32FC2, Scalar::all(10), Scalar::all(100));
Mat camera_mat; gen(camera_mat, 3, 3, CV_32F, 0.5, 1);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
Mat rvec_gold; gen(rvec_gold, 1, 3, CV_32F, 0, 1);
Mat tvec_gold; gen(tvec_gold, 1, 3, CV_32F, 0, 1);
Mat rvec, tvec;
const int num_iters = 200;
const float max_dist = 2.0f;
vector<int> inliers_cpu;
vector<Point2f> image_vec;
projectPoints(object, rvec_gold, tvec_gold, camera_mat, Mat(), image_vec);
Mat image(1, image_vec.size(), CV_32FC2, &image_vec[0]);
CPU_ON;
solvePnPRansac(object, image, camera_mat, Mat(), rvec, tvec, false, num_iters,
max_dist, int(num_points * 0.05), &inliers_cpu);
CPU_OFF;
Mat rvec, tvec;
gpu::SolvePnpRansacParams params;
params.num_iters = num_iters;
params.max_dist = max_dist;
vector<int> inliers_gpu;
params.inliers = &inliers_gpu;
CPU_ON;
solvePnP(object, image, camera_mat, Mat(), rvec, tvec);
CPU_OFF;
GPU_ON;
gpu::SolvePnpRansacParams params;
gpu::solvePnpRansac(object, image, camera_mat, Mat(), rvec, tvec, params);
GPU_OFF;
GPU_ON;
gpu::solvePnpRansac(object, image, camera_mat, Mat(), rvec, tvec, params);
GPU_OFF;
}
}