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added performance sample for solvePnpRansac + refactoring

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This commit is contained in:
Alexey Spizhevoy 2011-03-01 09:17:22 +00:00
parent 4ec5fb43f0
commit 60e33921e3
4 changed files with 51 additions and 5 deletions
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1
modules/gpu/src/calib3d.cpp
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@ -243,6 +243,7 @@ void cv::gpu::solvePnpRansac(const Mat& object, const Mat& image, const Mat& cam
CV_Assert(!params.use_extrinsic_guess); // We don't support initial guess for now
const int num_points = object.cols;
CV_Assert(num_points >= params.subset_size);
// Unapply distortion and intrinsic camera transformations
Mat eye_camera_mat = Mat::eye(3, 3, CV_32F);

2
modules/gpu/test/test_calib3d.cpp
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@ -113,7 +113,7 @@ TEST(solvePnpRansac, accuracy)
const int num_points = 5000;
Mat object = randomMat(rng, Size(num_points, 1), CV_32FC3, 0, 100, false);
Mat camera_mat = randomMat(rng, Size(3, 3), CV_32F, 1, 1, false);
Mat camera_mat = randomMat(rng, Size(3, 3), CV_32F, 0.5, 1, false);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;

2
samples/gpu/performance/performance.h
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@ -100,7 +100,7 @@ private:
};
#define INIT(name) \
#define GLOBAL_INIT(name) \
struct name##_init: Runnable { \
name##_init(): Runnable(#name) { \
TestSystem::instance().addInit(this); \

51
samples/gpu/performance/tests.cpp
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@ -8,19 +8,19 @@
using namespace std;
using namespace cv;
INIT(matchTemplate)
void InitMatchTemplate()
{
Mat src; gen(src, 500, 500, CV_32F, 0, 1);
Mat templ; gen(templ, 500, 500, CV_32F, 0, 1);
gpu::GpuMat d_src(src), d_templ(templ), d_dst;
gpu::matchTemplate(d_src, d_templ, d_dst, CV_TM_CCORR);
}
TEST(matchTemplate)
{
InitMatchTemplate();
Mat src, templ, dst;
gen(src, 3000, 3000, CV_32F, 0, 1);
@ -780,3 +780,48 @@ TEST(projectPoints)
GPU_OFF;
}
}
void InitSolvePnpRansac()
{
Mat object; gen(object, 1, 4, CV_32FC3, Scalar::all(0), Scalar::all(100));
Mat image; gen(image, 1, 4, CV_32FC2, Scalar::all(0), Scalar::all(100));
Mat rvec, tvec;
gpu::solvePnpRansac(object, image, Mat::eye(3, 3, CV_32F), Mat(), rvec, tvec,
gpu::SolvePnpRansacParams());
}
// It's not very correct test as solvePnP and solvePnpRansac use different algorithms internally
// TODO add proper test after CPU solvePnpRansac being added
TEST(solvePnpRansac)
{
InitSolvePnpRansac();
int num_points = 1000000;
Mat object; gen(object, 1, num_points, CV_32FC3, Scalar::all(0), Scalar::all(100));
Mat camera_mat; gen(camera_mat, 3, 3, CV_32F, 0.5, 1);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
Mat rvec_gold; gen(rvec_gold, 1, 3, CV_32F, 0, 1);
Mat tvec_gold; gen(tvec_gold, 1, 3, CV_32F, 0, 1);
vector<Point2f> image_vec;
projectPoints(object, rvec_gold, tvec_gold, camera_mat, Mat(), image_vec);
Mat image(1, image_vec.size(), CV_32FC2, &image_vec[0]);
Mat rvec, tvec;
CPU_ON;
solvePnP(object, image, camera_mat, Mat(), rvec, tvec);
CPU_OFF;
GPU_ON;
gpu::SolvePnpRansacParams params;
gpu::solvePnpRansac(object, image, camera_mat, Mat(), rvec, tvec, params);
GPU_OFF;
}