254 lines
7.3 KiB
C++
254 lines
7.3 KiB
C++
/*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) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., 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 Intel Corporation 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 "perf_precomp.hpp"
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using namespace std;
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using namespace testing;
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using namespace perf;
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//////////////////////////////////////////////////////////////////////
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// StereoBM
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typedef std::tr1::tuple<string, string> pair_string;
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DEF_PARAM_TEST_1(ImagePair, pair_string);
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PERF_TEST_P(ImagePair, StereoBM,
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Values(pair_string("gpu/perf/aloe.png", "gpu/perf/aloeR.png")))
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{
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declare.time(300.0);
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const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
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ASSERT_FALSE(imgLeft.empty());
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const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
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ASSERT_FALSE(imgRight.empty());
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const int ndisp = 256;
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if (PERF_RUN_CUDA())
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{
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cv::Ptr<cv::StereoBM> d_bm = cv::cuda::createStereoBM(ndisp);
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const cv::cuda::GpuMat d_imgLeft(imgLeft);
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const cv::cuda::GpuMat d_imgRight(imgRight);
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cv::cuda::GpuMat dst;
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TEST_CYCLE() d_bm->compute(d_imgLeft, d_imgRight, dst);
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CUDA_SANITY_CHECK(dst);
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}
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else
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{
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cv::Ptr<cv::StereoBM> bm = cv::createStereoBM(ndisp);
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cv::Mat dst;
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TEST_CYCLE() bm->compute(imgLeft, imgRight, dst);
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CPU_SANITY_CHECK(dst);
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}
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}
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//////////////////////////////////////////////////////////////////////
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// StereoBeliefPropagation
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PERF_TEST_P(ImagePair, StereoBeliefPropagation,
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Values(pair_string("gpu/stereobp/aloe-L.png", "gpu/stereobp/aloe-R.png")))
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{
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declare.time(300.0);
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const cv::Mat imgLeft = readImage(GET_PARAM(0));
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ASSERT_FALSE(imgLeft.empty());
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const cv::Mat imgRight = readImage(GET_PARAM(1));
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ASSERT_FALSE(imgRight.empty());
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const int ndisp = 64;
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if (PERF_RUN_CUDA())
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{
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cv::Ptr<cv::cuda::StereoBeliefPropagation> d_bp = cv::cuda::createStereoBeliefPropagation(ndisp);
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const cv::cuda::GpuMat d_imgLeft(imgLeft);
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const cv::cuda::GpuMat d_imgRight(imgRight);
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cv::cuda::GpuMat dst;
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TEST_CYCLE() d_bp->compute(d_imgLeft, d_imgRight, dst);
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CUDA_SANITY_CHECK(dst);
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}
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else
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{
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FAIL_NO_CPU();
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}
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}
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//////////////////////////////////////////////////////////////////////
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// StereoConstantSpaceBP
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PERF_TEST_P(ImagePair, StereoConstantSpaceBP,
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Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-R.png")))
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{
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declare.time(300.0);
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const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
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ASSERT_FALSE(imgLeft.empty());
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const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
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ASSERT_FALSE(imgRight.empty());
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const int ndisp = 128;
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if (PERF_RUN_CUDA())
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{
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cv::Ptr<cv::cuda::StereoConstantSpaceBP> d_csbp = cv::cuda::createStereoConstantSpaceBP(ndisp);
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const cv::cuda::GpuMat d_imgLeft(imgLeft);
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const cv::cuda::GpuMat d_imgRight(imgRight);
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cv::cuda::GpuMat dst;
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TEST_CYCLE() d_csbp->compute(d_imgLeft, d_imgRight, dst);
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CUDA_SANITY_CHECK(dst);
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}
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else
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{
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FAIL_NO_CPU();
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}
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}
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//////////////////////////////////////////////////////////////////////
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// DisparityBilateralFilter
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PERF_TEST_P(ImagePair, DisparityBilateralFilter,
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Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-disp.png")))
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{
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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 cv::Mat disp = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
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ASSERT_FALSE(disp.empty());
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const int ndisp = 128;
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if (PERF_RUN_CUDA())
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{
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cv::Ptr<cv::cuda::DisparityBilateralFilter> d_filter = cv::cuda::createDisparityBilateralFilter(ndisp);
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const cv::cuda::GpuMat d_img(img);
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const cv::cuda::GpuMat d_disp(disp);
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cv::cuda::GpuMat dst;
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TEST_CYCLE() d_filter->apply(d_disp, d_img, dst);
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CUDA_SANITY_CHECK(dst);
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}
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else
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{
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FAIL_NO_CPU();
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}
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}
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//////////////////////////////////////////////////////////////////////
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// ReprojectImageTo3D
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PERF_TEST_P(Sz_Depth, ReprojectImageTo3D,
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Combine(CUDA_TYPICAL_MAT_SIZES,
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Values(CV_8U, CV_16S)))
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{
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const cv::Size size = GET_PARAM(0);
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const int depth = GET_PARAM(1);
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cv::Mat src(size, depth);
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declare.in(src, WARMUP_RNG);
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cv::Mat Q(4, 4, CV_32FC1);
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cv::randu(Q, 0.1, 1.0);
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if (PERF_RUN_CUDA())
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{
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const cv::cuda::GpuMat d_src(src);
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cv::cuda::GpuMat dst;
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TEST_CYCLE() cv::cuda::reprojectImageTo3D(d_src, dst, Q);
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CUDA_SANITY_CHECK(dst);
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}
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else
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{
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cv::Mat dst;
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TEST_CYCLE() cv::reprojectImageTo3D(src, dst, Q);
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CPU_SANITY_CHECK(dst);
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}
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}
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//////////////////////////////////////////////////////////////////////
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// DrawColorDisp
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PERF_TEST_P(Sz_Depth, DrawColorDisp,
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Combine(CUDA_TYPICAL_MAT_SIZES,
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Values(CV_8U, CV_16S)))
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{
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const cv::Size size = GET_PARAM(0);
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const int type = GET_PARAM(1);
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cv::Mat src(size, type);
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declare.in(src, WARMUP_RNG);
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if (PERF_RUN_CUDA())
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{
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const cv::cuda::GpuMat d_src(src);
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cv::cuda::GpuMat dst;
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TEST_CYCLE() cv::cuda::drawColorDisp(d_src, dst, 255);
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CUDA_SANITY_CHECK(dst);
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}
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else
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{
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FAIL_NO_CPU();
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}
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}
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