opencv/modules/gpu/perf/perf_calib3d.cpp

329 lines
7.8 KiB
C++

#include "perf_precomp.hpp"
using namespace std;
using namespace testing;
//////////////////////////////////////////////////////////////////////
// StereoBM
typedef std::tr1::tuple<string, string> 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(5.0);
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::Ptr<cv::StereoBM> bm = cv::createStereoBM(ndisp);
cv::Mat dst;
TEST_CYCLE() bm->compute(imgLeft, imgRight, dst);
CPU_SANITY_CHECK(dst);
}
}
//////////////////////////////////////////////////////////////////////
// StereoBeliefPropagation
PERF_TEST_P(ImagePair, Calib3D_StereoBeliefPropagation,
Values(pair_string("gpu/stereobp/aloe-L.png", "gpu/stereobp/aloe-R.png")))
{
declare.time(10.0);
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(10.0);
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<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;
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<cv::Point2f> 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);
}
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();
}
}