Revert "Merge pull request #836 from jet47:gpu-modules"

This reverts commit fba72cb60d, reversing
changes made to 02131ffb62.

modules/gpu/perf/perf_calib3d.cpp

@@ -46,8 +46,181 @@ using namespace std;
 using namespace testing;
 using namespace perf;
 
+//////////////////////////////////////////////////////////////////////
+// StereoBM
+
+typedef std::tr1::tuple<string, string> pair_string;
+DEF_PARAM_TEST_1(ImagePair, pair_string);
+
+PERF_TEST_P(ImagePair, Calib3D_StereoBM,
+            Values(pair_string("gpu/perf/aloe.png", "gpu/perf/aloeR.png")))
+{
+    declare.time(300.0);
+
+    const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
+    ASSERT_FALSE(imgLeft.empty());
+
+    const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
+    ASSERT_FALSE(imgRight.empty());
+
+    const int preset = 0;
+    const int ndisp = 256;
+
+    if (PERF_RUN_GPU())
+    {
+        cv::gpu::StereoBM_GPU d_bm(preset, ndisp);
+
+        const cv::gpu::GpuMat d_imgLeft(imgLeft);
+        const cv::gpu::GpuMat d_imgRight(imgRight);
+        cv::gpu::GpuMat dst;
+
+        TEST_CYCLE() d_bm(d_imgLeft, d_imgRight, dst);
+
+        GPU_SANITY_CHECK(dst);
+    }
+    else
+    {
+        cv::Ptr<cv::StereoBM> bm = cv::createStereoBM(ndisp);
+
+        cv::Mat dst;
+
+        TEST_CYCLE() bm->compute(imgLeft, imgRight, dst);
+
+        CPU_SANITY_CHECK(dst);
+    }
+}
+
+//////////////////////////////////////////////////////////////////////
+// StereoBeliefPropagation
+
+PERF_TEST_P(ImagePair, Calib3D_StereoBeliefPropagation,
+            Values(pair_string("gpu/stereobp/aloe-L.png", "gpu/stereobp/aloe-R.png")))
+{
+    declare.time(300.0);
+
+    const cv::Mat imgLeft = readImage(GET_PARAM(0));
+    ASSERT_FALSE(imgLeft.empty());
+
+    const cv::Mat imgRight = readImage(GET_PARAM(1));
+    ASSERT_FALSE(imgRight.empty());
+
+    const int ndisp = 64;
+
+    if (PERF_RUN_GPU())
+    {
+        cv::gpu::StereoBeliefPropagation d_bp(ndisp);
+
+        const cv::gpu::GpuMat d_imgLeft(imgLeft);
+        const cv::gpu::GpuMat d_imgRight(imgRight);
+        cv::gpu::GpuMat dst;
+
+        TEST_CYCLE() d_bp(d_imgLeft, d_imgRight, dst);
+
+        GPU_SANITY_CHECK(dst);
+    }
+    else
+    {
+        FAIL_NO_CPU();
+    }
+}
+
+//////////////////////////////////////////////////////////////////////
+// StereoConstantSpaceBP
+
+PERF_TEST_P(ImagePair, Calib3D_StereoConstantSpaceBP,
+            Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-R.png")))
+{
+    declare.time(300.0);
+
+    const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
+    ASSERT_FALSE(imgLeft.empty());
+
+    const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
+    ASSERT_FALSE(imgRight.empty());
+
+    const int ndisp = 128;
+
+    if (PERF_RUN_GPU())
+    {
+        cv::gpu::StereoConstantSpaceBP d_csbp(ndisp);
+
+        const cv::gpu::GpuMat d_imgLeft(imgLeft);
+        const cv::gpu::GpuMat d_imgRight(imgRight);
+        cv::gpu::GpuMat dst;
+
+        TEST_CYCLE() d_csbp(d_imgLeft, d_imgRight, dst);
+
+        GPU_SANITY_CHECK(dst);
+    }
+    else
+    {
+        FAIL_NO_CPU();
+    }
+}
+
+//////////////////////////////////////////////////////////////////////
+// DisparityBilateralFilter
+
+PERF_TEST_P(ImagePair, Calib3D_DisparityBilateralFilter,
+            Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-disp.png")))
+{
+    const cv::Mat img = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
+    ASSERT_FALSE(img.empty());
+
+    const cv::Mat disp = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
+    ASSERT_FALSE(disp.empty());
+
+    const int ndisp = 128;
+
+    if (PERF_RUN_GPU())
+    {
+        cv::gpu::DisparityBilateralFilter d_filter(ndisp);
+
+        const cv::gpu::GpuMat d_img(img);
+        const cv::gpu::GpuMat d_disp(disp);
+        cv::gpu::GpuMat dst;
+
+        TEST_CYCLE() d_filter(d_disp, d_img, dst);
+
+        GPU_SANITY_CHECK(dst);
+    }
+    else
+    {
+        FAIL_NO_CPU();
+    }
+}
+
+//////////////////////////////////////////////////////////////////////
+// TransformPoints
+
 DEF_PARAM_TEST_1(Count, int);
 
+PERF_TEST_P(Count, Calib3D_TransformPoints,
+            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);
+
+    if (PERF_RUN_GPU())
+    {
+        const cv::gpu::GpuMat d_src(src);
+        cv::gpu::GpuMat dst;
+
+        TEST_CYCLE() cv::gpu::transformPoints(d_src, rvec, tvec, dst);
+
+        GPU_SANITY_CHECK(dst);
+    }
+    else
+    {
+        FAIL_NO_CPU();
+    }
+}
+
 //////////////////////////////////////////////////////////////////////
 // ProjectPoints
 
@@ -133,3 +306,66 @@ PERF_TEST_P(Count, Calib3D_SolvePnPRansac,
         CPU_SANITY_CHECK(tvec, 1e-6);
     }
 }
+
+//////////////////////////////////////////////////////////////////////
+// ReprojectImageTo3D
+
+PERF_TEST_P(Sz_Depth, Calib3D_ReprojectImageTo3D,
+            Combine(GPU_TYPICAL_MAT_SIZES,
+                    Values(CV_8U, CV_16S)))
+{
+    const cv::Size size = GET_PARAM(0);
+    const int depth = GET_PARAM(1);
+
+    cv::Mat src(size, depth);
+    declare.in(src, WARMUP_RNG);
+
+    cv::Mat Q(4, 4, CV_32FC1);
+    cv::randu(Q, 0.1, 1.0);
+
+    if (PERF_RUN_GPU())
+    {
+        const cv::gpu::GpuMat d_src(src);
+        cv::gpu::GpuMat dst;
+
+        TEST_CYCLE() cv::gpu::reprojectImageTo3D(d_src, dst, Q);
+
+        GPU_SANITY_CHECK(dst);
+    }
+    else
+    {
+        cv::Mat dst;
+
+        TEST_CYCLE() cv::reprojectImageTo3D(src, dst, Q);
+
+        CPU_SANITY_CHECK(dst);
+    }
+}
+
+//////////////////////////////////////////////////////////////////////
+// DrawColorDisp
+
+PERF_TEST_P(Sz_Depth, Calib3D_DrawColorDisp,
+            Combine(GPU_TYPICAL_MAT_SIZES,
+                    Values(CV_8U, CV_16S)))
+{
+    const cv::Size size = GET_PARAM(0);
+    const int type = GET_PARAM(1);
+
+    cv::Mat src(size, type);
+    declare.in(src, WARMUP_RNG);
+
+    if (PERF_RUN_GPU())
+    {
+        const cv::gpu::GpuMat d_src(src);
+        cv::gpu::GpuMat dst;
+
+        TEST_CYCLE() cv::gpu::drawColorDisp(d_src, dst, 255);
+
+        GPU_SANITY_CHECK(dst);
+    }
+    else
+    {
+        FAIL_NO_CPU();
+    }
+}