mirror of
https://github.com/opencv/opencv.git
synced 2024-11-26 04:00:30 +08:00
254 lines
7.3 KiB
C++
254 lines
7.3 KiB
C++
/*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"
|
|
|
|
using namespace std;
|
|
using namespace testing;
|
|
using namespace perf;
|
|
|
|
//////////////////////////////////////////////////////////////////////
|
|
// StereoBM
|
|
|
|
typedef std::tr1::tuple<string, string> pair_string;
|
|
DEF_PARAM_TEST_1(ImagePair, pair_string);
|
|
|
|
PERF_TEST_P(ImagePair, 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 ndisp = 256;
|
|
|
|
if (PERF_RUN_CUDA())
|
|
{
|
|
cv::Ptr<cv::StereoBM> d_bm = cv::cuda::createStereoBM(ndisp);
|
|
|
|
const cv::cuda::GpuMat d_imgLeft(imgLeft);
|
|
const cv::cuda::GpuMat d_imgRight(imgRight);
|
|
cv::cuda::GpuMat dst;
|
|
|
|
TEST_CYCLE() d_bm->compute(d_imgLeft, d_imgRight, dst);
|
|
|
|
CUDA_SANITY_CHECK(dst);
|
|
}
|
|
else
|
|
{
|
|
cv::Ptr<cv::StereoBM> bm = cv::StereoBM::create(ndisp);
|
|
|
|
cv::Mat dst;
|
|
|
|
TEST_CYCLE() bm->compute(imgLeft, imgRight, dst);
|
|
|
|
CPU_SANITY_CHECK(dst);
|
|
}
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////
|
|
// StereoBeliefPropagation
|
|
|
|
PERF_TEST_P(ImagePair, 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_CUDA())
|
|
{
|
|
cv::Ptr<cv::cuda::StereoBeliefPropagation> d_bp = cv::cuda::createStereoBeliefPropagation(ndisp);
|
|
|
|
const cv::cuda::GpuMat d_imgLeft(imgLeft);
|
|
const cv::cuda::GpuMat d_imgRight(imgRight);
|
|
cv::cuda::GpuMat dst;
|
|
|
|
TEST_CYCLE() d_bp->compute(d_imgLeft, d_imgRight, dst);
|
|
|
|
CUDA_SANITY_CHECK(dst);
|
|
}
|
|
else
|
|
{
|
|
FAIL_NO_CPU();
|
|
}
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////
|
|
// StereoConstantSpaceBP
|
|
|
|
PERF_TEST_P(ImagePair, 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_CUDA())
|
|
{
|
|
cv::Ptr<cv::cuda::StereoConstantSpaceBP> d_csbp = cv::cuda::createStereoConstantSpaceBP(ndisp);
|
|
|
|
const cv::cuda::GpuMat d_imgLeft(imgLeft);
|
|
const cv::cuda::GpuMat d_imgRight(imgRight);
|
|
cv::cuda::GpuMat dst;
|
|
|
|
TEST_CYCLE() d_csbp->compute(d_imgLeft, d_imgRight, dst);
|
|
|
|
CUDA_SANITY_CHECK(dst);
|
|
}
|
|
else
|
|
{
|
|
FAIL_NO_CPU();
|
|
}
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////
|
|
// DisparityBilateralFilter
|
|
|
|
PERF_TEST_P(ImagePair, 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_CUDA())
|
|
{
|
|
cv::Ptr<cv::cuda::DisparityBilateralFilter> d_filter = cv::cuda::createDisparityBilateralFilter(ndisp);
|
|
|
|
const cv::cuda::GpuMat d_img(img);
|
|
const cv::cuda::GpuMat d_disp(disp);
|
|
cv::cuda::GpuMat dst;
|
|
|
|
TEST_CYCLE() d_filter->apply(d_disp, d_img, dst);
|
|
|
|
CUDA_SANITY_CHECK(dst);
|
|
}
|
|
else
|
|
{
|
|
FAIL_NO_CPU();
|
|
}
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////
|
|
// ReprojectImageTo3D
|
|
|
|
PERF_TEST_P(Sz_Depth, ReprojectImageTo3D,
|
|
Combine(CUDA_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_CUDA())
|
|
{
|
|
const cv::cuda::GpuMat d_src(src);
|
|
cv::cuda::GpuMat dst;
|
|
|
|
TEST_CYCLE() cv::cuda::reprojectImageTo3D(d_src, dst, Q);
|
|
|
|
CUDA_SANITY_CHECK(dst);
|
|
}
|
|
else
|
|
{
|
|
cv::Mat dst;
|
|
|
|
TEST_CYCLE() cv::reprojectImageTo3D(src, dst, Q);
|
|
|
|
CPU_SANITY_CHECK(dst);
|
|
}
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////
|
|
// DrawColorDisp
|
|
|
|
PERF_TEST_P(Sz_Depth, DrawColorDisp,
|
|
Combine(CUDA_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_CUDA())
|
|
{
|
|
const cv::cuda::GpuMat d_src(src);
|
|
cv::cuda::GpuMat dst;
|
|
|
|
TEST_CYCLE() cv::cuda::drawColorDisp(d_src, dst, 255);
|
|
|
|
CUDA_SANITY_CHECK(dst);
|
|
}
|
|
else
|
|
{
|
|
FAIL_NO_CPU();
|
|
}
|
|
}
|