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Added perf test

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This commit is contained in:
Daniil Osokin
2012-08-10 16:39:36 +04:00
parent 0609f4e9b4
commit 45c49a9088
4 changed files with 366 additions and 0 deletions
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40
modules/calib3d/perf/perf_pnp.cpp
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@@ -11,6 +11,8 @@ CV_ENUM(pnpAlgo, CV_ITERATIVE, CV_EPNP /*, CV_P3P*/)
typedef std::tr1::tuple<int, pnpAlgo> PointsNum_Algo_t;
typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo;
typedef perf::TestBaseWithParam<int> PointsNum;
PERF_TEST_P(PointsNum_Algo, solvePnP,
testing::Combine(
testing::Values(4, 3*9, 7*13),
@@ -86,3 +88,41 @@ PERF_TEST(PointsNum_Algo, solveP3P)
SANITY_CHECK(rvec, 1e-6);
SANITY_CHECK(tvec, 1e-6);
}
PERF_TEST_P(PointsNum, SolvePnPRansac, testing::Values(4, 3*9, 7*13))
{
int count = GetParam();
Mat object(1, count, CV_32FC3);
randu(object, -100, 100);
Mat camera_mat(3, 3, CV_32FC1);
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;
Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0));
vector<cv::Point2f> image_vec;
Mat rvec_gold(1, 3, CV_32FC1);
randu(rvec_gold, 0, 1);
Mat tvec_gold(1, 3, CV_32FC1);
randu(tvec_gold, 0, 1);
projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec);
Mat image(1, count, CV_32FC2, &image_vec[0]);
Mat rvec;
Mat tvec;
solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
declare.time(3.0);
TEST_CYCLE()
{
solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
}
}