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added simple HAL test; added RHO homography test

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This commit is contained in:
Vadim Pisarevsky 2015-05-28 17:05:43 +03:00
parent 8fb37606f6
commit 481f786fe7
2 changed files with 222 additions and 8 deletions
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35
modules/calib3d/test/test_homography.cpp
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@ -662,7 +662,7 @@ TEST(Calib3d_Homography, fromImages)
std::vector< DMatch > good_matches;
for( int i = 0; i < descriptors_1.rows; i++ )
{
if( matches[i].distance <= 42 )
if( matches[i].distance <= 100 )
good_matches.push_back( matches[i]);
}
@ -676,13 +676,32 @@ TEST(Calib3d_Homography, fromImages)
pointframe2.push_back( keypoints_2[ good_matches[i].trainIdx ].pt );
}
Mat inliers;
Mat H = findHomography( pointframe1, pointframe2, RANSAC,3.0,inliers);
int ninliers = countNonZero(inliers);
printf("nfeatures1 = %d, nfeatures2=%d, good matches=%d, ninliers=%d\n",
Mat H0, H1, inliers0, inliers1;
double min_t0 = DBL_MAX, min_t1 = DBL_MAX;
for( int i = 0; i < 10; i++ )
{
double t = (double)getTickCount();
H0 = findHomography( pointframe1, pointframe2, RANSAC, 3.0, inliers0 );
t = (double)getTickCount() - t;
min_t0 = std::min(min_t0, t);
}
int ninliers0 = countNonZero(inliers0);
for( int i = 0; i < 10; i++ )
{
double t = (double)getTickCount();
H1 = findHomography( pointframe1, pointframe2, RHO, 3.0, inliers1 );
t = (double)getTickCount() - t;
min_t1 = std::min(min_t1, t);
}
int ninliers1 = countNonZero(inliers1);
double freq = getTickFrequency();
printf("nfeatures1 = %d, nfeatures2=%d, matches=%d, ninliers(RANSAC)=%d, "
"time(RANSAC)=%.2fmsec, ninliers(RHO)=%d, time(RHO)=%.2fmsec\n",
(int)keypoints_1.size(), (int)keypoints_2.size(),
(int)good_matches.size(), ninliers);
(int)good_matches.size(), ninliers0, min_t0*1000./freq, ninliers1, min_t1*1000./freq);
ASSERT_TRUE(!H.empty());
ASSERT_GE(ninliers, 80);
ASSERT_TRUE(!H0.empty());
ASSERT_GE(ninliers0, 80);
ASSERT_TRUE(!H1.empty());
ASSERT_GE(ninliers1, 80);
}

195
modules/core/test/test_hal_core.cpp Normal file
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@ -0,0 +1,195 @@
/*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) 2013, OpenCV Foundation, 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 OpenCV Foundation 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 "test_precomp.hpp"
#include "opencv2/hal.hpp"
using namespace cv;
enum
{
HAL_EXP = 0,
HAL_LOG = 1,
HAL_SQRT = 2
};
TEST(Core_HAL, mathfuncs)
{
for( int hcase = 0; hcase < 6; hcase++ )
{
int depth = hcase % 2 == 0 ? CV_32F : CV_64F;
double eps = depth == CV_32F ? 1e-5 : 1e-10;
int nfunc = hcase / 2;
int n = 100;
Mat src(1, n, depth), dst(1, n, depth), dst0(1, n, depth);
randu(src, 1, 10);
double min_hal_t = DBL_MAX, min_ocv_t = DBL_MAX;
for( int iter = 0; iter < 10; iter++ )
{
double t = (double)getTickCount();
switch (nfunc)
{
case HAL_EXP:
if( depth == CV_32F )
hal::exp(src.ptr<float>(), dst.ptr<float>(), n);
else
hal::exp(src.ptr<double>(), dst.ptr<double>(), n);
break;
case HAL_LOG:
if( depth == CV_32F )
hal::log(src.ptr<float>(), dst.ptr<float>(), n);
else
hal::log(src.ptr<double>(), dst.ptr<double>(), n);
break;
case HAL_SQRT:
if( depth == CV_32F )
hal::sqrt(src.ptr<float>(), dst.ptr<float>(), n);
else
hal::sqrt(src.ptr<double>(), dst.ptr<double>(), n);
break;
default:
CV_Error(Error::StsBadArg, "unknown function");
}
t = (double)getTickCount() - t;
min_hal_t = std::min(min_hal_t, t);
t = (double)getTickCount();
switch (nfunc)
{
case HAL_EXP:
exp(src, dst0);
break;
case HAL_LOG:
log(src, dst0);
break;
case HAL_SQRT:
pow(src, 0.5, dst0);
break;
default:
CV_Error(Error::StsBadArg, "unknown function");
}
t = (double)getTickCount() - t;
min_ocv_t = std::min(min_ocv_t, t);
}
EXPECT_LE(norm(dst, dst0, NORM_INF | NORM_RELATIVE), eps);
double freq = getTickFrequency();
printf("%s (N=%d, %s): hal time=%.2fusec, ocv time=%.2fusec\n",
(nfunc == HAL_EXP ? "exp" : nfunc == HAL_LOG ? "log" : nfunc == HAL_SQRT ? "sqrt" : "???"),
n, (depth == CV_32F ? "f32" : "f64"), min_hal_t*1e6/freq, min_ocv_t*1e6/freq);
}
}
enum
{
HAL_LU = 0,
HAL_CHOL = 1
};
TEST(Core_HAL, mat_decomp)
{
for( int hcase = 0; hcase < 16; hcase++ )
{
int depth = hcase % 2 == 0 ? CV_32F : CV_64F;
int size = (hcase / 2) % 4;
size = size == 0 ? 3 : size == 1 ? 4 : size == 2 ? 6 : 15;
int nfunc = (hcase / 8);
double eps = depth == CV_32F ? 1e-5 : 1e-10;
if( size == 3 )
continue;
Mat a0(size, size, depth), a(size, size, depth), b(size, 1, depth), x(size, 1, depth), x0(size, 1, depth);
randu(a0, -1, 1);
a0 = a0*a0.t();
randu(b, -1, 1);
double min_hal_t = DBL_MAX, min_ocv_t = DBL_MAX;
size_t asize = size*size*a.elemSize();
size_t bsize = size*b.elemSize();
for( int iter = 0; iter < 10; iter++ )
{
memcpy(x.ptr(), b.ptr(), bsize);
memcpy(a.ptr(), a0.ptr(), asize);
double t = (double)getTickCount();
switch (nfunc)
{
case HAL_LU:
if( depth == CV_32F )
hal::LU(a.ptr<float>(), a.step, size, x.ptr<float>(), x.step, 1);
else
hal::LU(a.ptr<double>(), a.step, size, x.ptr<double>(), x.step, 1);
break;
case HAL_CHOL:
if( depth == CV_32F )
hal::Cholesky(a.ptr<float>(), a.step, size, x.ptr<float>(), x.step, 1);
else
hal::Cholesky(a.ptr<double>(), a.step, size, x.ptr<double>(), x.step, 1);
break;
default:
CV_Error(Error::StsBadArg, "unknown function");
}
t = (double)getTickCount() - t;
min_hal_t = std::min(min_hal_t, t);
t = (double)getTickCount();
solve(a0, b, x0, (nfunc == HAL_LU ? DECOMP_LU : DECOMP_CHOLESKY));
t = (double)getTickCount() - t;
min_ocv_t = std::min(min_ocv_t, t);
}
//std::cout << "x: " << Mat(x.t()) << std::endl;
//std::cout << "x0: " << Mat(x0.t()) << std::endl;
EXPECT_LE(norm(x, x0, NORM_INF | NORM_RELATIVE), eps);
double freq = getTickFrequency();
printf("%s (%d x %d, %s): hal time=%.2fusec, ocv time=%.2fusec\n",
(nfunc == HAL_LU ? "LU" : nfunc == HAL_CHOL ? "Cholesky" : "???"),
size, size,
(depth == CV_32F ? "f32" : "f64"),
min_hal_t*1e6/freq, min_ocv_t*1e6/freq);
}
}