/*M/////////////////////////////////////////////////////////////////////////////////////// // // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. // // By downloading, copying, installing or using the software you agree to this license. // If you do not agree to this license, do not download, install, // copy or use the software. // // // License Agreement // For Open Source Computer Vision Library // // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. // Copyright (C) 2009, Willow Garage Inc., all rights reserved. // Third party copyrights are property of their respective owners. // // Redistribution and use in source and binary forms, with or without modification, // are permitted provided that the following conditions are met: // // * Redistribution's of source code must retain the above copyright notice, // this list of conditions and the following disclaimer. // // * Redistribution's in binary form must reproduce the above copyright notice, // this list of conditions and the following disclaimer in the documentation // and/or other materials provided with the distribution. // // * The name of the copyright holders may not be used to endorse or promote products // derived from this software without specific prior written permission. // // This software is provided by the copyright holders and contributors "as is" and // any express or implied warranties, including, but not limited to, the implied // warranties of merchantability and fitness for a particular purpose are disclaimed. // In no event shall the Intel Corporation or contributors be liable for any direct, // indirect, incidental, special, exemplary, or consequential damages // (including, but not limited to, procurement of substitute goods or services; // loss of use, data, or profits; or business interruption) however caused // and on any theory of liability, whether in contract, strict liability, // or tort (including negligence or otherwise) arising in any way out of // the use of this software, even if advised of the possibility of such damage. // //M*/ #include "perf_precomp.hpp" #include "perf_util.hpp" using namespace std; using namespace testing; using namespace perf; ////////////////////////////////////////////////////////////////////// // StereoBM typedef std::tr1::tuple pair_string; DEF_PARAM_TEST_1(ImagePair, pair_string); PERF_TEST_P(ImagePair, Calib3D_StereoBM, Values(pair_string("gpu/perf/aloe.png", "gpu/perf/aloeR.png"))) { declare.time(300.0); const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE); ASSERT_FALSE(imgLeft.empty()); const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE); ASSERT_FALSE(imgRight.empty()); const int preset = 0; const int ndisp = 256; if (PERF_RUN_GPU()) { cv::gpu::StereoBM_GPU d_bm(preset, ndisp); const cv::gpu::GpuMat d_imgLeft(imgLeft); const cv::gpu::GpuMat d_imgRight(imgRight); cv::gpu::GpuMat dst; TEST_CYCLE() d_bm(d_imgLeft, d_imgRight, dst); GPU_SANITY_CHECK(dst); } else { cv::StereoBM bm(preset, ndisp); cv::Mat dst; TEST_CYCLE() bm(imgLeft, imgRight, dst); CPU_SANITY_CHECK(dst); } } ////////////////////////////////////////////////////////////////////// // StereoBeliefPropagation PERF_TEST_P(ImagePair, DISABLED_Calib3D_StereoBeliefPropagation, Values(pair_string("gpu/stereobp/aloe-L.png", "gpu/stereobp/aloe-R.png"))) { declare.time(300.0); const cv::Mat imgLeft = readImage(GET_PARAM(0)); ASSERT_FALSE(imgLeft.empty()); const cv::Mat imgRight = readImage(GET_PARAM(1)); ASSERT_FALSE(imgRight.empty()); const int ndisp = 64; if (PERF_RUN_GPU()) { cv::gpu::StereoBeliefPropagation d_bp(ndisp); const cv::gpu::GpuMat d_imgLeft(imgLeft); const cv::gpu::GpuMat d_imgRight(imgRight); cv::gpu::GpuMat dst; TEST_CYCLE() d_bp(d_imgLeft, d_imgRight, dst); GPU_SANITY_CHECK(dst); } else { FAIL_NO_CPU(); } } ////////////////////////////////////////////////////////////////////// // StereoConstantSpaceBP PERF_TEST_P(ImagePair, Calib3D_StereoConstantSpaceBP, Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-R.png"))) { declare.time(300.0); const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE); ASSERT_FALSE(imgLeft.empty()); const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE); ASSERT_FALSE(imgRight.empty()); const int ndisp = 128; if (PERF_RUN_GPU()) { cv::gpu::StereoConstantSpaceBP d_csbp(ndisp); const cv::gpu::GpuMat d_imgLeft(imgLeft); const cv::gpu::GpuMat d_imgRight(imgRight); cv::gpu::GpuMat dst; TEST_CYCLE() d_csbp(d_imgLeft, d_imgRight, dst); GPU_SANITY_CHECK(dst); } else { FAIL_NO_CPU(); } } ////////////////////////////////////////////////////////////////////// // DisparityBilateralFilter PERF_TEST_P(ImagePair, Calib3D_DisparityBilateralFilter, Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-disp.png"))) { const cv::Mat img = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE); ASSERT_FALSE(img.empty()); const cv::Mat disp = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE); ASSERT_FALSE(disp.empty()); const int ndisp = 128; if (PERF_RUN_GPU()) { cv::gpu::DisparityBilateralFilter d_filter(ndisp); const cv::gpu::GpuMat d_img(img); const cv::gpu::GpuMat d_disp(disp); cv::gpu::GpuMat dst; TEST_CYCLE() d_filter(d_disp, d_img, dst); GPU_SANITY_CHECK(dst); } else { FAIL_NO_CPU(); } } ////////////////////////////////////////////////////////////////////// // TransformPoints DEF_PARAM_TEST_1(Count, int); PERF_TEST_P(Count, Calib3D_TransformPoints, Values(5000, 10000, 20000)) { const int count = GetParam(); cv::Mat src(1, count, CV_32FC3); declare.in(src, WARMUP_RNG); const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1); const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1); if (PERF_RUN_GPU()) { const cv::gpu::GpuMat d_src(src); cv::gpu::GpuMat dst; TEST_CYCLE() cv::gpu::transformPoints(d_src, rvec, tvec, dst); GPU_SANITY_CHECK(dst); } else { FAIL_NO_CPU(); } } ////////////////////////////////////////////////////////////////////// // ProjectPoints PERF_TEST_P(Count, Calib3D_ProjectPoints, Values(5000, 10000, 20000)) { const int count = GetParam(); cv::Mat src(1, count, CV_32FC3); declare.in(src, WARMUP_RNG); const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1); const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1); const cv::Mat camera_mat = cv::Mat::ones(3, 3, CV_32FC1); if (PERF_RUN_GPU()) { const cv::gpu::GpuMat d_src(src); cv::gpu::GpuMat dst; TEST_CYCLE() cv::gpu::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), dst); GPU_SANITY_CHECK(dst); } else { cv::Mat dst; TEST_CYCLE() cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst); CPU_SANITY_CHECK(dst); } } ////////////////////////////////////////////////////////////////////// // SolvePnPRansac PERF_TEST_P(Count, Calib3D_SolvePnPRansac, Values(5000, 10000, 20000)) { declare.time(10.0); const int count = GetParam(); cv::Mat object(1, count, CV_32FC3); declare.in(object, WARMUP_RNG); cv::Mat camera_mat(3, 3, CV_32FC1); cv::randu(camera_mat, 0.5, 1); camera_mat.at(0, 1) = 0.f; camera_mat.at(1, 0) = 0.f; camera_mat.at(2, 0) = 0.f; camera_mat.at(2, 1) = 0.f; const cv::Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0)); cv::Mat rvec_gold(1, 3, CV_32FC1); cv::randu(rvec_gold, 0, 1); cv::Mat tvec_gold(1, 3, CV_32FC1); cv::randu(tvec_gold, 0, 1); std::vector image_vec; cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec); const cv::Mat image(1, count, CV_32FC2, &image_vec[0]); cv::Mat rvec; cv::Mat tvec; if (PERF_RUN_GPU()) { TEST_CYCLE() cv::gpu::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); GPU_SANITY_CHECK(rvec, 1e-3); GPU_SANITY_CHECK(tvec, 1e-3); } else { TEST_CYCLE() cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); CPU_SANITY_CHECK(rvec, 1e-6); CPU_SANITY_CHECK(tvec, 1e-6); } } ////////////////////////////////////////////////////////////////////// // ReprojectImageTo3D PERF_TEST_P(Sz_Depth, Calib3D_ReprojectImageTo3D, Combine(GPU_TYPICAL_MAT_SIZES, Values(CV_8U, CV_16S))) { const cv::Size size = GET_PARAM(0); const int depth = GET_PARAM(1); cv::Mat src(size, depth); declare.in(src, WARMUP_RNG); cv::Mat Q(4, 4, CV_32FC1); cv::randu(Q, 0.1, 1.0); if (PERF_RUN_GPU()) { const cv::gpu::GpuMat d_src(src); cv::gpu::GpuMat dst; TEST_CYCLE() cv::gpu::reprojectImageTo3D(d_src, dst, Q); GPU_SANITY_CHECK(dst, 1e-1, ERROR_RELATIVE); } else { cv::Mat dst; TEST_CYCLE() cv::reprojectImageTo3D(src, dst, Q); CPU_SANITY_CHECK(dst); } } ////////////////////////////////////////////////////////////////////// // DrawColorDisp PERF_TEST_P(Sz_Depth, Calib3D_DrawColorDisp, Combine(GPU_TYPICAL_MAT_SIZES, Values(CV_8U, CV_16S))) { const cv::Size size = GET_PARAM(0); const int type = GET_PARAM(1); cv::Mat src(size, type); declare.in(src, WARMUP_RNG); if (PERF_RUN_GPU()) { const cv::gpu::GpuMat d_src(src); cv::gpu::GpuMat dst; TEST_CYCLE() cv::gpu::drawColorDisp(d_src, dst, 255); GPU_SANITY_CHECK(dst); } else { FAIL_NO_CPU(); } }