mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2024-11-28 21:20:18 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Add concurrency test for solvePnPRansac

Browse Source
This commit is contained in:
Andrey Kamaev 2012-10-10 18:23:11 +04:00
parent 423837ddae
commit d40083a926
1 changed files with 66 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

66
modules/calib3d/test/test_solvepnp_ransac.cpp
View File

@ -41,6 +41,7 @@
//M*/
#include "test_precomp.hpp"
#include "opencv2/core/internal.hpp"
using namespace cv;
using namespace std;
@ -238,3 +239,68 @@ protected:
TEST(Calib3d_SolvePnPRansac, accuracy) { CV_solvePnPRansac_Test test; test.safe_run(); }
TEST(Calib3d_SolvePnP, accuracy) { CV_solvePnP_Test test; test.safe_run(); }
#ifdef HAVE_TBB
TEST(DISABLED_Calib3d_SolvePnPRansac, concurrency)
{
int count = 7*13;
Mat object(1, count, CV_32FC3);
randu(object, -100, 100);
Mat camera_mat(3, 3, CV_32FC1);
randu(camera_mat, 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 dist_coef(1, 8, CV_32F, cv::Scalar::all(0));
vector<cv::Point2f> image_vec;
Mat rvec_gold(1, 3, CV_32FC1);
randu(rvec_gold, 0, 1);
Mat tvec_gold(1, 3, CV_32FC1);
randu(tvec_gold, 0, 1);
projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec);
Mat image(1, count, CV_32FC2, &image_vec[0]);
Mat rvec1, rvec2;
Mat tvec1, tvec2;
{
// limit concurrency to get determenistic result
cv::theRNG().state = 20121010;
cv::Ptr<tbb::task_scheduler_init> one_thread = new tbb::task_scheduler_init(1);
solvePnPRansac(object, image, camera_mat, dist_coef, rvec1, tvec1);
}
if(1)
{
Mat rvec;
Mat tvec;
// parallel executions
for(int i = 0; i < 10; ++i)
{
cv::theRNG().state = 20121010;
solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
}
}
{
// single thread again
cv::theRNG().state = 20121010;
cv::Ptr<tbb::task_scheduler_init> one_thread = new tbb::task_scheduler_init(1);
solvePnPRansac(object, image, camera_mat, dist_coef, rvec2, tvec2);
}
double rnorm = cv::norm(rvec1, rvec2, NORM_INF);
double tnorm = cv::norm(tvec1, tvec2, NORM_INF);
EXPECT_LT(rnorm, 1e-6);
EXPECT_LT(tnorm, 1e-6);
}
#endif