gpustereo module for stereo correspondence

modules/gpu/perf/perf_calib3d.cpp

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+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "perf_precomp.hpp"
+
+using namespace std;
+using namespace testing;
+using namespace perf;
+
+DEF_PARAM_TEST_1(Count, int);
+
+//////////////////////////////////////////////////////////////////////
+// ProjectPoints
+
+PERF_TEST_P(Count, Calib3D_ProjectPoints,
+            Values(5000, 10000, 20000))
+{
+    const int count = GetParam();
+
+    cv::Mat src(1, count, CV_32FC3);
+    declare.in(src, WARMUP_RNG);
+
+    const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1);
+    const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1);
+    const cv::Mat camera_mat = cv::Mat::ones(3, 3, CV_32FC1);
+
+    if (PERF_RUN_GPU())
+    {
+        const cv::gpu::GpuMat d_src(src);
+        cv::gpu::GpuMat dst;
+
+        TEST_CYCLE() cv::gpu::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), dst);
+
+        GPU_SANITY_CHECK(dst);
+    }
+    else
+    {
+        cv::Mat dst;
+
+        TEST_CYCLE() cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst);
+
+        CPU_SANITY_CHECK(dst);
+    }
+}
+
+//////////////////////////////////////////////////////////////////////
+// SolvePnPRansac
+
+PERF_TEST_P(Count, Calib3D_SolvePnPRansac,
+            Values(5000, 10000, 20000))
+{
+    declare.time(10.0);
+
+    const int count = GetParam();
+
+    cv::Mat object(1, count, CV_32FC3);
+    declare.in(object, WARMUP_RNG);
+
+    cv::Mat camera_mat(3, 3, CV_32FC1);
+    cv::randu(camera_mat, 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;
+
+    const cv::Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0));
+
+    cv::Mat rvec_gold(1, 3, CV_32FC1);
+    cv::randu(rvec_gold, 0, 1);
+
+    cv::Mat tvec_gold(1, 3, CV_32FC1);
+    cv::randu(tvec_gold, 0, 1);
+
+    std::vector<cv::Point2f> image_vec;
+    cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec);
+
+    const cv::Mat image(1, count, CV_32FC2, &image_vec[0]);
+
+    cv::Mat rvec;
+    cv::Mat tvec;
+
+    if (PERF_RUN_GPU())
+    {
+        TEST_CYCLE() cv::gpu::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
+
+        GPU_SANITY_CHECK(rvec, 1e-3);
+        GPU_SANITY_CHECK(tvec, 1e-3);
+    }
+    else
+    {
+        TEST_CYCLE() cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
+
+        CPU_SANITY_CHECK(rvec, 1e-6);
+        CPU_SANITY_CHECK(tvec, 1e-6);
+    }
+}