refactored gpu perf tests and fixed sanity tests
This commit is contained in:
Vladislav Vinogradov
@@ -3,139 +3,194 @@
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using namespace std;
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using namespace testing;
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namespace {
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struct KeypointIdxCompare
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{
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std::vector<cv::KeyPoint>* keypoints;
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explicit KeypointIdxCompare(std::vector<cv::KeyPoint>* _keypoints) : keypoints(_keypoints) {}
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bool operator ()(size_t i1, size_t i2) const
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{
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cv::KeyPoint kp1 = (*keypoints)[i1];
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cv::KeyPoint kp2 = (*keypoints)[i2];
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if (kp1.pt.x != kp2.pt.x)
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return kp1.pt.x < kp2.pt.x;
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if (kp1.pt.y != kp2.pt.y)
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return kp1.pt.y < kp2.pt.y;
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if (kp1.response != kp2.response)
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return kp1.response < kp2.response;
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return kp1.octave < kp2.octave;
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}
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};
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static void sortKeyPoints(std::vector<cv::KeyPoint>& keypoints, cv::InputOutputArray _descriptors = cv::noArray())
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{
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std::vector<size_t> indexies(keypoints.size());
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for (size_t i = 0; i < indexies.size(); ++i)
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indexies[i] = i;
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std::sort(indexies.begin(), indexies.end(), KeypointIdxCompare(&keypoints));
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std::vector<cv::KeyPoint> new_keypoints;
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cv::Mat new_descriptors;
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new_keypoints.resize(keypoints.size());
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cv::Mat descriptors;
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if (_descriptors.needed())
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{
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descriptors = _descriptors.getMat();
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new_descriptors.create(descriptors.size(), descriptors.type());
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}
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for (size_t i = 0; i < indexies.size(); ++i)
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{
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size_t new_idx = indexies[i];
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new_keypoints[i] = keypoints[new_idx];
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if (!new_descriptors.empty())
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descriptors.row((int) new_idx).copyTo(new_descriptors.row((int) i));
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}
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keypoints.swap(new_keypoints);
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if (_descriptors.needed())
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new_descriptors.copyTo(_descriptors);
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}
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//////////////////////////////////////////////////////////////////////
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// SURF
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DEF_PARAM_TEST_1(Image, string);
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PERF_TEST_P(Image, Features2D_SURF, Values<string>("gpu/perf/aloe.png"))
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PERF_TEST_P(Image, Features2D_SURF,
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Values<string>("gpu/perf/aloe.png"))
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{
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declare.time(50.0);
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cv::Mat img = readImage(GetParam(), cv::IMREAD_GRAYSCALE);
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const cv::Mat img = readImage(GetParam(), cv::IMREAD_GRAYSCALE);
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ASSERT_FALSE(img.empty());
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if (PERF_RUN_GPU())
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{
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cv::gpu::SURF_GPU d_surf;
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cv::gpu::GpuMat d_img(img);
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const cv::gpu::GpuMat d_img(img);
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cv::gpu::GpuMat d_keypoints, d_descriptors;
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d_surf(d_img, cv::gpu::GpuMat(), d_keypoints, d_descriptors);
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TEST_CYCLE() d_surf(d_img, cv::gpu::GpuMat(), d_keypoints, d_descriptors);
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TEST_CYCLE()
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{
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d_surf(d_img, cv::gpu::GpuMat(), d_keypoints, d_descriptors);
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}
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std::vector<cv::KeyPoint> gpu_keypoints;
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d_surf.downloadKeypoints(d_keypoints, gpu_keypoints);
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GPU_SANITY_CHECK(d_descriptors, 1e-4);
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GPU_SANITY_CHECK_KEYPOINTS(SURF, d_keypoints);
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cv::Mat gpu_descriptors(d_descriptors);
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sortKeyPoints(gpu_keypoints, gpu_descriptors);
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SANITY_CHECK_KEYPOINTS(gpu_keypoints);
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SANITY_CHECK(gpu_descriptors);
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}
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else
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{
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cv::SURF surf;
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std::vector<cv::KeyPoint> keypoints;
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cv::Mat descriptors;
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std::vector<cv::KeyPoint> cpu_keypoints;
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cv::Mat cpu_descriptors;
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surf(img, cv::noArray(), keypoints, descriptors);
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TEST_CYCLE() surf(img, cv::noArray(), cpu_keypoints, cpu_descriptors);
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TEST_CYCLE()
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{
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keypoints.clear();
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surf(img, cv::noArray(), keypoints, descriptors);
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}
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SANITY_CHECK_KEYPOINTS(keypoints);
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SANITY_CHECK(descriptors, 1e-4);
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SANITY_CHECK_KEYPOINTS(cpu_keypoints);
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SANITY_CHECK(cpu_descriptors);
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}
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}
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//////////////////////////////////////////////////////////////////////
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// FAST
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PERF_TEST_P(Image, Features2D_FAST, Values<string>("gpu/perf/aloe.png"))
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DEF_PARAM_TEST(Image_Threshold_NonMaxSupression, string, int, bool);
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PERF_TEST_P(Image_Threshold_NonMaxSupression, Features2D_FAST,
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Combine(Values<string>("gpu/perf/aloe.png"),
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Values(20),
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Bool()))
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{
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cv::Mat img = readImage(GetParam(), cv::IMREAD_GRAYSCALE);
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const cv::Mat img = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
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ASSERT_FALSE(img.empty());
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const int threshold = GET_PARAM(1);
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const bool nonMaxSuppersion = GET_PARAM(2);
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if (PERF_RUN_GPU())
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{
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cv::gpu::FAST_GPU d_fast(20);
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cv::gpu::FAST_GPU d_fast(threshold, nonMaxSuppersion, 0.5);
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cv::gpu::GpuMat d_img(img);
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const cv::gpu::GpuMat d_img(img);
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cv::gpu::GpuMat d_keypoints;
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d_fast(d_img, cv::gpu::GpuMat(), d_keypoints);
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TEST_CYCLE() d_fast(d_img, cv::gpu::GpuMat(), d_keypoints);
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TEST_CYCLE()
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{
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d_fast(d_img, cv::gpu::GpuMat(), d_keypoints);
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}
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std::vector<cv::KeyPoint> gpu_keypoints;
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d_fast.downloadKeypoints(d_keypoints, gpu_keypoints);
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GPU_SANITY_CHECK_RESPONSE(FAST, d_keypoints);
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sortKeyPoints(gpu_keypoints);
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SANITY_CHECK_KEYPOINTS(gpu_keypoints);
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}
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else
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{
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std::vector<cv::KeyPoint> keypoints;
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std::vector<cv::KeyPoint> cpu_keypoints;
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cv::FAST(img, keypoints, 20);
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TEST_CYCLE() cv::FAST(img, cpu_keypoints, threshold, nonMaxSuppersion);
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TEST_CYCLE()
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{
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keypoints.clear();
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cv::FAST(img, keypoints, 20);
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}
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SANITY_CHECK_KEYPOINTS(keypoints);
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SANITY_CHECK_KEYPOINTS(cpu_keypoints);
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}
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}
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//////////////////////////////////////////////////////////////////////
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// ORB
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PERF_TEST_P(Image, Features2D_ORB, Values<string>("gpu/perf/aloe.png"))
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DEF_PARAM_TEST(Image_NFeatures, string, int);
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PERF_TEST_P(Image_NFeatures, Features2D_ORB,
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Combine(Values<string>("gpu/perf/aloe.png"),
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Values(4000)))
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{
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cv::Mat img = readImage(GetParam(), cv::IMREAD_GRAYSCALE);
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const cv::Mat img = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
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ASSERT_FALSE(img.empty());
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const int nFeatures = GET_PARAM(1);
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if (PERF_RUN_GPU())
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{
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cv::gpu::ORB_GPU d_orb(4000);
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cv::gpu::ORB_GPU d_orb(nFeatures);
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cv::gpu::GpuMat d_img(img);
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const cv::gpu::GpuMat d_img(img);
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cv::gpu::GpuMat d_keypoints, d_descriptors;
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d_orb(d_img, cv::gpu::GpuMat(), d_keypoints, d_descriptors);
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TEST_CYCLE() d_orb(d_img, cv::gpu::GpuMat(), d_keypoints, d_descriptors);
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TEST_CYCLE()
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{
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d_orb(d_img, cv::gpu::GpuMat(), d_keypoints, d_descriptors);
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}
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std::vector<cv::KeyPoint> gpu_keypoints;
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d_orb.downloadKeyPoints(d_keypoints, gpu_keypoints);
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GPU_SANITY_CHECK_KEYPOINTS(ORB, d_keypoints);
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GPU_SANITY_CHECK(d_descriptors);
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cv::Mat gpu_descriptors(d_descriptors);
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gpu_keypoints.resize(10);
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gpu_descriptors = gpu_descriptors.rowRange(0, 10);
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sortKeyPoints(gpu_keypoints, gpu_descriptors);
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SANITY_CHECK_KEYPOINTS(gpu_keypoints);
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SANITY_CHECK(gpu_descriptors);
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}
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else
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{
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cv::ORB orb(4000);
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cv::ORB orb(nFeatures);
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std::vector<cv::KeyPoint> keypoints;
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cv::Mat descriptors;
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std::vector<cv::KeyPoint> cpu_keypoints;
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cv::Mat cpu_descriptors;
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orb(img, cv::noArray(), keypoints, descriptors);
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TEST_CYCLE() orb(img, cv::noArray(), cpu_keypoints, cpu_descriptors);
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TEST_CYCLE()
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{
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keypoints.clear();
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orb(img, cv::noArray(), keypoints, descriptors);
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}
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SANITY_CHECK_KEYPOINTS(keypoints);
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SANITY_CHECK(descriptors);
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SANITY_CHECK_KEYPOINTS(cpu_keypoints);
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SANITY_CHECK(cpu_descriptors);
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}
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}
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@@ -144,166 +199,165 @@ PERF_TEST_P(Image, Features2D_ORB, Values<string>("gpu/perf/aloe.png"))
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DEF_PARAM_TEST(DescSize_Norm, int, NormType);
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PERF_TEST_P(DescSize_Norm, Features2D_BFMatch, Combine(Values(64, 128, 256), Values(NormType(cv::NORM_L1), NormType(cv::NORM_L2), NormType(cv::NORM_HAMMING))))
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PERF_TEST_P(DescSize_Norm, Features2D_BFMatch,
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Combine(Values(64, 128, 256),
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Values(NormType(cv::NORM_L1), NormType(cv::NORM_L2), NormType(cv::NORM_HAMMING))))
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{
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declare.time(20.0);
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int desc_size = GET_PARAM(0);
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int normType = GET_PARAM(1);
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const int desc_size = GET_PARAM(0);
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const int normType = GET_PARAM(1);
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int type = normType == cv::NORM_HAMMING ? CV_8U : CV_32F;
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const int type = normType == cv::NORM_HAMMING ? CV_8U : CV_32F;
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cv::Mat query(3000, desc_size, type);
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fillRandom(query);
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declare.in(query, WARMUP_RNG);
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cv::Mat train(3000, desc_size, type);
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fillRandom(train);
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declare.in(train, WARMUP_RNG);
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if (PERF_RUN_GPU())
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{
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cv::gpu::BFMatcher_GPU d_matcher(normType);
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cv::gpu::GpuMat d_query(query);
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cv::gpu::GpuMat d_train(train);
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const cv::gpu::GpuMat d_query(query);
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const cv::gpu::GpuMat d_train(train);
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cv::gpu::GpuMat d_trainIdx, d_distance;
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d_matcher.matchSingle(d_query, d_train, d_trainIdx, d_distance);
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TEST_CYCLE() d_matcher.matchSingle(d_query, d_train, d_trainIdx, d_distance);
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TEST_CYCLE()
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{
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d_matcher.matchSingle(d_query, d_train, d_trainIdx, d_distance);
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}
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std::vector<cv::DMatch> gpu_matches;
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d_matcher.matchDownload(d_trainIdx, d_distance, gpu_matches);
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GPU_SANITY_CHECK(d_trainIdx);
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GPU_SANITY_CHECK(d_distance);
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SANITY_CHECK_MATCHES(gpu_matches);
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}
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else
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{
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cv::BFMatcher matcher(normType);
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std::vector<cv::DMatch> matches;
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std::vector<cv::DMatch> cpu_matches;
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matcher.match(query, train, matches);
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TEST_CYCLE() matcher.match(query, train, cpu_matches);
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TEST_CYCLE()
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{
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matcher.match(query, train, matches);
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}
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SANITY_CHECK(matches);
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SANITY_CHECK_MATCHES(cpu_matches);
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}
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}
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//////////////////////////////////////////////////////////////////////
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// BFKnnMatch
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static void toOneRowMatches(const std::vector< std::vector<cv::DMatch> >& src, std::vector<cv::DMatch>& dst)
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{
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dst.clear();
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for (size_t i = 0; i < src.size(); ++i)
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for (size_t j = 0; j < src[i].size(); ++j)
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dst.push_back(src[i][j]);
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}
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DEF_PARAM_TEST(DescSize_K_Norm, int, int, NormType);
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PERF_TEST_P(DescSize_K_Norm, Features2D_BFKnnMatch, Combine(
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Values(64, 128, 256),
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Values(2, 3),
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Values(NormType(cv::NORM_L1), NormType(cv::NORM_L2), NormType(cv::NORM_HAMMING))))
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PERF_TEST_P(DescSize_K_Norm, Features2D_BFKnnMatch,
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Combine(Values(64, 128, 256),
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Values(2, 3),
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Values(NormType(cv::NORM_L1), NormType(cv::NORM_L2))))
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{
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declare.time(30.0);
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int desc_size = GET_PARAM(0);
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int k = GET_PARAM(1);
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int normType = GET_PARAM(2);
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const int desc_size = GET_PARAM(0);
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const int k = GET_PARAM(1);
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const int normType = GET_PARAM(2);
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int type = normType == cv::NORM_HAMMING ? CV_8U : CV_32F;
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const int type = normType == cv::NORM_HAMMING ? CV_8U : CV_32F;
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cv::Mat query(3000, desc_size, type);
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fillRandom(query);
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declare.in(query, WARMUP_RNG);
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cv::Mat train(3000, desc_size, type);
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fillRandom(train);
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declare.in(train, WARMUP_RNG);
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if (PERF_RUN_GPU())
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{
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cv::gpu::BFMatcher_GPU d_matcher(normType);
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cv::gpu::GpuMat d_query(query);
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cv::gpu::GpuMat d_train(train);
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const cv::gpu::GpuMat d_query(query);
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const cv::gpu::GpuMat d_train(train);
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cv::gpu::GpuMat d_trainIdx, d_distance, d_allDist;
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d_matcher.knnMatchSingle(d_query, d_train, d_trainIdx, d_distance, d_allDist, k);
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TEST_CYCLE() d_matcher.knnMatchSingle(d_query, d_train, d_trainIdx, d_distance, d_allDist, k);
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TEST_CYCLE()
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{
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d_matcher.knnMatchSingle(d_query, d_train, d_trainIdx, d_distance, d_allDist, k);
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}
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std::vector< std::vector<cv::DMatch> > matchesTbl;
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d_matcher.knnMatchDownload(d_trainIdx, d_distance, matchesTbl);
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GPU_SANITY_CHECK(d_trainIdx);
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GPU_SANITY_CHECK(d_distance);
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std::vector<cv::DMatch> gpu_matches;
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toOneRowMatches(matchesTbl, gpu_matches);
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SANITY_CHECK_MATCHES(gpu_matches);
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}
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else
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{
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cv::BFMatcher matcher(normType);
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std::vector< std::vector<cv::DMatch> > matches;
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std::vector< std::vector<cv::DMatch> > matchesTbl;
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matcher.knnMatch(query, train, matches, k);
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TEST_CYCLE() matcher.knnMatch(query, train, matchesTbl, k);
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TEST_CYCLE()
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{
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matcher.knnMatch(query, train, matches, k);
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}
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std::vector<cv::DMatch> cpu_matches;
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toOneRowMatches(matchesTbl, cpu_matches);
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SANITY_CHECK(matches);
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SANITY_CHECK_MATCHES(cpu_matches);
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}
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}
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//////////////////////////////////////////////////////////////////////
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// BFRadiusMatch
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PERF_TEST_P(DescSize_Norm, Features2D_BFRadiusMatch, Combine(Values(64, 128, 256), Values(NormType(cv::NORM_L1), NormType(cv::NORM_L2), NormType(cv::NORM_HAMMING))))
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PERF_TEST_P(DescSize_Norm, Features2D_BFRadiusMatch,
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Combine(Values(64, 128, 256),
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Values(NormType(cv::NORM_L1), NormType(cv::NORM_L2))))
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{
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declare.time(30.0);
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int desc_size = GET_PARAM(0);
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int normType = GET_PARAM(1);
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const int desc_size = GET_PARAM(0);
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const int normType = GET_PARAM(1);
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int type = normType == cv::NORM_HAMMING ? CV_8U : CV_32F;
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const int type = normType == cv::NORM_HAMMING ? CV_8U : CV_32F;
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const float maxDistance = 10000;
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cv::Mat query(3000, desc_size, type);
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fillRandom(query, 0.0, 1.0);
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declare.in(query, WARMUP_RNG);
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cv::Mat train(3000, desc_size, type);
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fillRandom(train, 0.0, 1.0);
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declare.in(train, WARMUP_RNG);
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if (PERF_RUN_GPU())
|
||||
{
|
||||
cv::gpu::BFMatcher_GPU d_matcher(normType);
|
||||
|
||||
cv::gpu::GpuMat d_query(query);
|
||||
cv::gpu::GpuMat d_train(train);
|
||||
const cv::gpu::GpuMat d_query(query);
|
||||
const cv::gpu::GpuMat d_train(train);
|
||||
cv::gpu::GpuMat d_trainIdx, d_nMatches, d_distance;
|
||||
|
||||
d_matcher.radiusMatchSingle(d_query, d_train, d_trainIdx, d_distance, d_nMatches, 2.0);
|
||||
TEST_CYCLE() d_matcher.radiusMatchSingle(d_query, d_train, d_trainIdx, d_distance, d_nMatches, maxDistance);
|
||||
|
||||
TEST_CYCLE()
|
||||
{
|
||||
d_matcher.radiusMatchSingle(d_query, d_train, d_trainIdx, d_distance, d_nMatches, 2.0);
|
||||
}
|
||||
std::vector< std::vector<cv::DMatch> > matchesTbl;
|
||||
d_matcher.radiusMatchDownload(d_trainIdx, d_distance, d_nMatches, matchesTbl);
|
||||
|
||||
GPU_SANITY_CHECK(d_trainIdx);
|
||||
GPU_SANITY_CHECK(d_distance);
|
||||
std::vector<cv::DMatch> gpu_matches;
|
||||
toOneRowMatches(matchesTbl, gpu_matches);
|
||||
|
||||
SANITY_CHECK_MATCHES(gpu_matches);
|
||||
}
|
||||
else
|
||||
{
|
||||
cv::BFMatcher matcher(normType);
|
||||
|
||||
std::vector< std::vector<cv::DMatch> > matches;
|
||||
std::vector< std::vector<cv::DMatch> > matchesTbl;
|
||||
|
||||
matcher.radiusMatch(query, train, matches, 2.0);
|
||||
TEST_CYCLE() matcher.radiusMatch(query, train, matchesTbl, maxDistance);
|
||||
|
||||
TEST_CYCLE()
|
||||
{
|
||||
matcher.radiusMatch(query, train, matches, 2.0);
|
||||
}
|
||||
std::vector<cv::DMatch> cpu_matches;
|
||||
toOneRowMatches(matchesTbl, cpu_matches);
|
||||
|
||||
SANITY_CHECK(matches);
|
||||
SANITY_CHECK_MATCHES(cpu_matches);
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
Reference in New Issue
Block a user