382 lines
8.9 KiB
C++
382 lines
8.9 KiB
C++
#include "perf_precomp.hpp"
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using namespace std;
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using namespace testing;
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namespace {
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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, Calib3D_StereoBM, Values(pair_string("gpu/perf/aloe.png", "gpu/perf/aloeR.png")))
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{
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declare.time(5.0);
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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 preset = 0;
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const int ndisp = 256;
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if (PERF_RUN_GPU())
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{
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cv::gpu::StereoBM_GPU d_bm(preset, ndisp);
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cv::gpu::GpuMat d_imgLeft(imgLeft);
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cv::gpu::GpuMat d_imgRight(imgRight);
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cv::gpu::GpuMat d_dst;
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d_bm(d_imgLeft, d_imgRight, d_dst);
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TEST_CYCLE()
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{
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d_bm(d_imgLeft, d_imgRight, d_dst);
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}
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GPU_SANITY_CHECK(d_dst);
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}
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else
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{
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cv::StereoBM bm(preset, ndisp);
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cv::Mat dst;
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bm(imgLeft, imgRight, dst);
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TEST_CYCLE()
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{
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bm(imgLeft, imgRight, dst);
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}
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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, Calib3D_StereoBeliefPropagation, Values(pair_string("gpu/stereobp/aloe-L.png", "gpu/stereobp/aloe-R.png")))
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{
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declare.time(10.0);
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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_GPU())
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{
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cv::gpu::StereoBeliefPropagation d_bp(ndisp);
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cv::gpu::GpuMat d_imgLeft(imgLeft);
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cv::gpu::GpuMat d_imgRight(imgRight);
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cv::gpu::GpuMat d_dst;
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d_bp(d_imgLeft, d_imgRight, d_dst);
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TEST_CYCLE()
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{
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d_bp(d_imgLeft, d_imgRight, d_dst);
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}
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GPU_SANITY_CHECK(d_dst);
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}
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else
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{
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FAIL() << "No such CPU implementation analogy.";
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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, Calib3D_StereoConstantSpaceBP, Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-R.png")))
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{
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declare.time(10.0);
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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_GPU())
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{
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cv::gpu::StereoConstantSpaceBP d_csbp(ndisp);
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cv::gpu::GpuMat d_imgLeft(imgLeft);
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cv::gpu::GpuMat d_imgRight(imgRight);
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cv::gpu::GpuMat d_dst;
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d_csbp(d_imgLeft, d_imgRight, d_dst);
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TEST_CYCLE()
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{
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d_csbp(d_imgLeft, d_imgRight, d_dst);
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}
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GPU_SANITY_CHECK(d_dst);
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}
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else
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{
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FAIL() << "No such CPU implementation analogy.";
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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, Calib3D_DisparityBilateralFilter, 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_GPU())
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{
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cv::gpu::DisparityBilateralFilter d_filter(ndisp);
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cv::gpu::GpuMat d_img(img);
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cv::gpu::GpuMat d_disp(disp);
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cv::gpu::GpuMat d_dst;
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d_filter(d_disp, d_img, d_dst);
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TEST_CYCLE()
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{
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d_filter(d_disp, d_img, d_dst);
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}
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GPU_SANITY_CHECK(d_dst);
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}
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else
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{
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FAIL() << "No such CPU implementation analogy.";
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}
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}
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//////////////////////////////////////////////////////////////////////
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// TransformPoints
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DEF_PARAM_TEST_1(Count, int);
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PERF_TEST_P(Count, Calib3D_TransformPoints, Values(5000, 10000, 20000))
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{
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const int count = GetParam();
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cv::Mat src(1, count, CV_32FC3);
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fillRandom(src, -100, 100);
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const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1);
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const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1);
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if (PERF_RUN_GPU())
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{
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cv::gpu::GpuMat d_src(src);
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cv::gpu::GpuMat d_dst;
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cv::gpu::transformPoints(d_src, rvec, tvec, d_dst);
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TEST_CYCLE()
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{
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cv::gpu::transformPoints(d_src, rvec, tvec, d_dst);
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}
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GPU_SANITY_CHECK(d_dst);
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}
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else
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{
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FAIL() << "No such CPU implementation analogy.";
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}
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}
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//////////////////////////////////////////////////////////////////////
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// ProjectPoints
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PERF_TEST_P(Count, Calib3D_ProjectPoints, Values(5000, 10000, 20000))
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{
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const int count = GetParam();
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cv::Mat src(1, count, CV_32FC3);
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fillRandom(src, -100, 100);
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const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1);
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const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1);
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const cv::Mat camera_mat = cv::Mat::ones(3, 3, CV_32FC1);
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if (PERF_RUN_GPU())
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{
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cv::gpu::GpuMat d_src(src);
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cv::gpu::GpuMat d_dst;
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cv::gpu::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), d_dst);
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TEST_CYCLE()
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{
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cv::gpu::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), d_dst);
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}
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GPU_SANITY_CHECK(d_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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cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst);
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TEST_CYCLE()
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{
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cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst);
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}
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CPU_SANITY_CHECK(dst);
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}
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}
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//////////////////////////////////////////////////////////////////////
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// SolvePnPRansac
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PERF_TEST_P(Count, Calib3D_SolvePnPRansac, Values(5000, 10000, 20000))
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{
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declare.time(10.0);
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const int count = GetParam();
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cv::Mat object(1, count, CV_32FC3);
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fillRandom(object, -100, 100);
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cv::Mat camera_mat(3, 3, CV_32FC1);
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fillRandom(camera_mat, 0.5, 1);
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camera_mat.at<float>(0, 1) = 0.f;
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camera_mat.at<float>(1, 0) = 0.f;
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camera_mat.at<float>(2, 0) = 0.f;
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camera_mat.at<float>(2, 1) = 0.f;
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const cv::Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0));
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std::vector<cv::Point2f> image_vec;
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cv::Mat rvec_gold(1, 3, CV_32FC1);
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fillRandom(rvec_gold, 0, 1);
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cv::Mat tvec_gold(1, 3, CV_32FC1);
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fillRandom(tvec_gold, 0, 1);
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cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec);
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cv::Mat image(1, count, CV_32FC2, &image_vec[0]);
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cv::Mat rvec;
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cv::Mat tvec;
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if (PERF_RUN_GPU())
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{
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cv::gpu::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
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TEST_CYCLE()
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{
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cv::gpu::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
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}
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}
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else
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{
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cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
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TEST_CYCLE()
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{
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cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
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}
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}
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CPU_SANITY_CHECK(rvec);
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CPU_SANITY_CHECK(tvec);
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}
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//////////////////////////////////////////////////////////////////////
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// ReprojectImageTo3D
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PERF_TEST_P(Sz_Depth, Calib3D_ReprojectImageTo3D, Combine(GPU_TYPICAL_MAT_SIZES, 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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fillRandom(src, 5.0, 30.0);
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cv::Mat Q(4, 4, CV_32FC1);
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fillRandom(Q, 0.1, 1.0);
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if (PERF_RUN_GPU())
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{
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cv::gpu::GpuMat d_src(src);
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cv::gpu::GpuMat d_dst;
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cv::gpu::reprojectImageTo3D(d_src, d_dst, Q);
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TEST_CYCLE()
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{
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cv::gpu::reprojectImageTo3D(d_src, d_dst, Q);
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}
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GPU_SANITY_CHECK(d_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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cv::reprojectImageTo3D(src, dst, Q);
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TEST_CYCLE()
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{
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cv::reprojectImageTo3D(src, dst, Q);
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}
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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, Calib3D_DrawColorDisp, Combine(GPU_TYPICAL_MAT_SIZES, 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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fillRandom(src, 0, 255);
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if (PERF_RUN_GPU())
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{
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cv::gpu::GpuMat d_src(src);
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cv::gpu::GpuMat d_dst;
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cv::gpu::drawColorDisp(d_src, d_dst, 255);
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TEST_CYCLE()
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{
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cv::gpu::drawColorDisp(d_src, d_dst, 255);
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}
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GPU_SANITY_CHECK(d_dst);
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}
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else
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{
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FAIL() << "No such CPU implementation analogy.";
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}
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}
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} // namespace
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