opencv/modules/calib3d/perf/perf_pnp.cpp

#include "perf_precomp.hpp"

using namespace std;
using namespace cv;
using namespace perf;
using std::tr1::make_tuple;
using std::tr1::get;

CV_ENUM(pnpAlgo, CV_ITERATIVE, CV_EPNP /*, CV_P3P*/)

typedef std::tr1::tuple<int, pnpAlgo> PointsNum_Algo_t;
typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo;

PERF_TEST_P(PointsNum_Algo, solvePnP,
            testing::Combine(
                testing::Values(4, 3*9, 7*13),
                testing::Values((int)CV_ITERATIVE, (int)CV_EPNP)
                )
            )
{
    int pointsNum = get<0>(GetParam());
    pnpAlgo algo = get<1>(GetParam());

    vector<Point2f> points2d(pointsNum);
    vector<Point3f> points3d(pointsNum);
    Mat rvec = Mat::zeros(3, 1, CV_32FC1);
    Mat tvec = Mat::zeros(3, 1, CV_32FC1);

    Mat distortion = Mat::zeros(5, 1, CV_32FC1);
    Mat intrinsics = Mat::eye(3, 3, CV_32FC1);
    intrinsics.at<float> (0, 0) = 400.0;
    intrinsics.at<float> (1, 1) = 400.0;
    intrinsics.at<float> (0, 2) = 640 / 2;
    intrinsics.at<float> (1, 2) = 480 / 2;

    warmup(points3d, WARMUP_RNG);
    warmup(rvec, WARMUP_RNG);
    warmup(tvec, WARMUP_RNG);

    projectPoints(points3d, rvec, tvec, intrinsics, distortion, points2d);

    //add noise
    Mat noise(1, points2d.size(), CV_32FC2);
    randu(noise, 0, 0.01);
    add(points2d, noise, points2d);

    declare.in(points3d, points2d);

    TEST_CYCLE_N(1000) solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, algo);

    SANITY_CHECK(rvec, 1e-6);
    SANITY_CHECK(tvec, 1e-6);
}

PERF_TEST(PointsNum_Algo, solveP3P)
{
    int pointsNum = 4;

    vector<Point2f> points2d(pointsNum);
    vector<Point3f> points3d(pointsNum);
    Mat rvec = Mat::zeros(3, 1, CV_32FC1);
    Mat tvec = Mat::zeros(3, 1, CV_32FC1);

    Mat distortion = Mat::zeros(5, 1, CV_32FC1);
    Mat intrinsics = Mat::eye(3, 3, CV_32FC1);
    intrinsics.at<float> (0, 0) = 400.0;
    intrinsics.at<float> (1, 1) = 400.0;
    intrinsics.at<float> (0, 2) = 640 / 2;
    intrinsics.at<float> (1, 2) = 480 / 2;

    warmup(points3d, WARMUP_RNG);
    warmup(rvec, WARMUP_RNG);
    warmup(tvec, WARMUP_RNG);

    projectPoints(points3d, rvec, tvec, intrinsics, distortion, points2d);

    //add noise
    Mat noise(1, points2d.size(), CV_32FC2);
    randu(noise, 0, 0.01);
    add(points2d, noise, points2d);

    declare.in(points3d, points2d);

    TEST_CYCLE_N(1000) solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, CV_P3P);

    SANITY_CHECK(rvec, 1e-6);
    SANITY_CHECK(tvec, 1e-6);
}