142 lines
4.5 KiB
C++
142 lines
4.5 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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#ifdef HAVE_OPENCV_CALIB3D
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#include "opencv2/calib3d.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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DEF_PARAM_TEST_1(Count, int);
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//////////////////////////////////////////////////////////////////////
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// ProjectPoints
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PERF_TEST_P(Count, Calib3D_ProjectPoints,
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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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declare.in(src, WARMUP_RNG);
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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_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::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), 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::Mat dst;
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TEST_CYCLE() cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), 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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// SolvePnPRansac
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PERF_TEST_P(Count, Calib3D_SolvePnPRansac,
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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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declare.in(object, WARMUP_RNG);
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cv::Mat camera_mat(3, 3, CV_32FC1);
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cv::randu(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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cv::Mat rvec_gold(1, 3, CV_32FC1);
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cv::randu(rvec_gold, 0, 1);
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cv::Mat tvec_gold(1, 3, CV_32FC1);
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cv::randu(tvec_gold, 0, 1);
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std::vector<cv::Point2f> image_vec;
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cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec);
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const 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_CUDA())
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{
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TEST_CYCLE() cv::cuda::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
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CUDA_SANITY_CHECK(rvec, 1e-3);
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CUDA_SANITY_CHECK(tvec, 1e-3);
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}
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else
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{
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TEST_CYCLE() cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
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CPU_SANITY_CHECK(rvec, 1e-6);
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CPU_SANITY_CHECK(tvec, 1e-6);
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}
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}
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#endif
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