Added performance tests for findCirclesGrid and solvePnP

modules/calib3d/perf/perf_pnp.cpp

@@ -0,0 +1,48 @@
+#include "perf_precomp.hpp"
+
+using namespace std;
+using namespace cv;
+using namespace perf;
+
+
+typedef std::tr1::tuple<std::string, cv::Size> String_Size_t;
+typedef perf::TestBaseWithParam<int> PointsNumber;
+
+PERF_TEST_P(PointsNumber, solvePnP, testing::Values(4, 3*9, 7*13)
+             )
+{
+    int pointsNum = GetParam();
+
+    vector<Point2f> points2d(pointsNum);
+    vector<Point3f> points3d(pointsNum);
+    Mat rvec = Mat::zeros(3, 1, CV_32FC1);
+    Mat tvec = Mat::zeros(3, 1, CV_32FC1);
+
+    Mat distortion = Mat::zeros(5, 1, CV_32FC1);
+    Mat intrinsics = Mat::eye(3, 3, CV_32FC1);
+    intrinsics.at<float> (0, 0) = 400.0;
+    intrinsics.at<float> (1, 1) = 400.0;
+    intrinsics.at<float> (0, 2) = 640 / 2;
+    intrinsics.at<float> (1, 2) = 480 / 2;
+
+    warmup(points3d, WARMUP_RNG);
+    warmup(rvec, WARMUP_RNG);
+    warmup(tvec, WARMUP_RNG);
+
+    projectPoints(points3d, rvec, tvec, intrinsics, distortion, points2d);
+
+    //add noise
+    Mat noise(1, points2d.size(), CV_32FC2);
+    randu(noise, 0, 0.01);
+    add(points2d, noise, points2d);
+
+    declare.in(points3d, points2d);
+
+    TEST_CYCLE(1000)
+    {
+        solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false);
+    }
+
+    SANITY_CHECK(rvec);
+    SANITY_CHECK(tvec);
+}