added simple HAL test; added RHO homography test
This commit is contained in:
Vadim Pisarevsky
parent
8fb37606f6
commit
481f786fe7
@ -662,7 +662,7 @@ TEST(Calib3d_Homography, fromImages)
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std::vector< DMatch > good_matches;
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std::vector< DMatch > good_matches;
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for( int i = 0; i < descriptors_1.rows; i++ )
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for( int i = 0; i < descriptors_1.rows; i++ )
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{
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{
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if( matches[i].distance <= 42 )
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if( matches[i].distance <= 100 )
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good_matches.push_back( matches[i]);
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good_matches.push_back( matches[i]);
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}
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}
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@ -676,13 +676,32 @@ TEST(Calib3d_Homography, fromImages)
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pointframe2.push_back( keypoints_2[ good_matches[i].trainIdx ].pt );
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pointframe2.push_back( keypoints_2[ good_matches[i].trainIdx ].pt );
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}
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}
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Mat inliers;
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Mat H0, H1, inliers0, inliers1;
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Mat H = findHomography( pointframe1, pointframe2, RANSAC,3.0,inliers);
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double min_t0 = DBL_MAX, min_t1 = DBL_MAX;
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int ninliers = countNonZero(inliers);
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for( int i = 0; i < 10; i++ )
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printf("nfeatures1 = %d, nfeatures2=%d, good matches=%d, ninliers=%d\n",
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{
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double t = (double)getTickCount();
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H0 = findHomography( pointframe1, pointframe2, RANSAC, 3.0, inliers0 );
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t = (double)getTickCount() - t;
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min_t0 = std::min(min_t0, t);
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}
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int ninliers0 = countNonZero(inliers0);
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for( int i = 0; i < 10; i++ )
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{
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double t = (double)getTickCount();
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H1 = findHomography( pointframe1, pointframe2, RHO, 3.0, inliers1 );
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t = (double)getTickCount() - t;
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min_t1 = std::min(min_t1, t);
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}
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int ninliers1 = countNonZero(inliers1);
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double freq = getTickFrequency();
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printf("nfeatures1 = %d, nfeatures2=%d, matches=%d, ninliers(RANSAC)=%d, "
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"time(RANSAC)=%.2fmsec, ninliers(RHO)=%d, time(RHO)=%.2fmsec\n",
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(int)keypoints_1.size(), (int)keypoints_2.size(),
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(int)keypoints_1.size(), (int)keypoints_2.size(),
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(int)good_matches.size(), ninliers);
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(int)good_matches.size(), ninliers0, min_t0*1000./freq, ninliers1, min_t1*1000./freq);
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ASSERT_TRUE(!H.empty());
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ASSERT_TRUE(!H0.empty());
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ASSERT_GE(ninliers, 80);
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ASSERT_GE(ninliers0, 80);
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ASSERT_TRUE(!H1.empty());
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ASSERT_GE(ninliers1, 80);
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}
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}
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195
modules/core/test/test_hal_core.cpp
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195
modules/core/test/test_hal_core.cpp
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@ -0,0 +1,195 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the OpenCV Foundation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp"
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#include "opencv2/hal.hpp"
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using namespace cv;
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enum
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{
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HAL_EXP = 0,
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HAL_LOG = 1,
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HAL_SQRT = 2
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};
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TEST(Core_HAL, mathfuncs)
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{
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for( int hcase = 0; hcase < 6; hcase++ )
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{
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int depth = hcase % 2 == 0 ? CV_32F : CV_64F;
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double eps = depth == CV_32F ? 1e-5 : 1e-10;
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int nfunc = hcase / 2;
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int n = 100;
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Mat src(1, n, depth), dst(1, n, depth), dst0(1, n, depth);
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randu(src, 1, 10);
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double min_hal_t = DBL_MAX, min_ocv_t = DBL_MAX;
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for( int iter = 0; iter < 10; iter++ )
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{
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double t = (double)getTickCount();
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switch (nfunc)
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{
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case HAL_EXP:
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if( depth == CV_32F )
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hal::exp(src.ptr<float>(), dst.ptr<float>(), n);
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else
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hal::exp(src.ptr<double>(), dst.ptr<double>(), n);
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break;
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case HAL_LOG:
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if( depth == CV_32F )
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hal::log(src.ptr<float>(), dst.ptr<float>(), n);
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else
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hal::log(src.ptr<double>(), dst.ptr<double>(), n);
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break;
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case HAL_SQRT:
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if( depth == CV_32F )
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hal::sqrt(src.ptr<float>(), dst.ptr<float>(), n);
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else
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hal::sqrt(src.ptr<double>(), dst.ptr<double>(), n);
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break;
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default:
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CV_Error(Error::StsBadArg, "unknown function");
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}
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t = (double)getTickCount() - t;
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min_hal_t = std::min(min_hal_t, t);
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t = (double)getTickCount();
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switch (nfunc)
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{
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case HAL_EXP:
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exp(src, dst0);
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break;
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case HAL_LOG:
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log(src, dst0);
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break;
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case HAL_SQRT:
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pow(src, 0.5, dst0);
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break;
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default:
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CV_Error(Error::StsBadArg, "unknown function");
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}
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t = (double)getTickCount() - t;
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min_ocv_t = std::min(min_ocv_t, t);
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}
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EXPECT_LE(norm(dst, dst0, NORM_INF | NORM_RELATIVE), eps);
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double freq = getTickFrequency();
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printf("%s (N=%d, %s): hal time=%.2fusec, ocv time=%.2fusec\n",
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(nfunc == HAL_EXP ? "exp" : nfunc == HAL_LOG ? "log" : nfunc == HAL_SQRT ? "sqrt" : "???"),
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n, (depth == CV_32F ? "f32" : "f64"), min_hal_t*1e6/freq, min_ocv_t*1e6/freq);
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}
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}
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enum
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{
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HAL_LU = 0,
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HAL_CHOL = 1
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};
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TEST(Core_HAL, mat_decomp)
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{
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for( int hcase = 0; hcase < 16; hcase++ )
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{
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int depth = hcase % 2 == 0 ? CV_32F : CV_64F;
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int size = (hcase / 2) % 4;
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size = size == 0 ? 3 : size == 1 ? 4 : size == 2 ? 6 : 15;
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int nfunc = (hcase / 8);
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double eps = depth == CV_32F ? 1e-5 : 1e-10;
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if( size == 3 )
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continue;
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Mat a0(size, size, depth), a(size, size, depth), b(size, 1, depth), x(size, 1, depth), x0(size, 1, depth);
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randu(a0, -1, 1);
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a0 = a0*a0.t();
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randu(b, -1, 1);
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double min_hal_t = DBL_MAX, min_ocv_t = DBL_MAX;
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size_t asize = size*size*a.elemSize();
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size_t bsize = size*b.elemSize();
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for( int iter = 0; iter < 10; iter++ )
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{
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memcpy(x.ptr(), b.ptr(), bsize);
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memcpy(a.ptr(), a0.ptr(), asize);
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double t = (double)getTickCount();
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switch (nfunc)
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{
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case HAL_LU:
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if( depth == CV_32F )
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hal::LU(a.ptr<float>(), a.step, size, x.ptr<float>(), x.step, 1);
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else
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hal::LU(a.ptr<double>(), a.step, size, x.ptr<double>(), x.step, 1);
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break;
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case HAL_CHOL:
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if( depth == CV_32F )
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hal::Cholesky(a.ptr<float>(), a.step, size, x.ptr<float>(), x.step, 1);
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else
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hal::Cholesky(a.ptr<double>(), a.step, size, x.ptr<double>(), x.step, 1);
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break;
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default:
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CV_Error(Error::StsBadArg, "unknown function");
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}
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t = (double)getTickCount() - t;
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min_hal_t = std::min(min_hal_t, t);
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t = (double)getTickCount();
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solve(a0, b, x0, (nfunc == HAL_LU ? DECOMP_LU : DECOMP_CHOLESKY));
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t = (double)getTickCount() - t;
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min_ocv_t = std::min(min_ocv_t, t);
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}
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//std::cout << "x: " << Mat(x.t()) << std::endl;
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//std::cout << "x0: " << Mat(x0.t()) << std::endl;
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EXPECT_LE(norm(x, x0, NORM_INF | NORM_RELATIVE), eps);
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double freq = getTickFrequency();
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printf("%s (%d x %d, %s): hal time=%.2fusec, ocv time=%.2fusec\n",
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(nfunc == HAL_LU ? "LU" : nfunc == HAL_CHOL ? "Cholesky" : "???"),
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size, size,
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(depth == CV_32F ? "f32" : "f64"),
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min_hal_t*1e6/freq, min_ocv_t*1e6/freq);
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}
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}
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