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137 lines
3.3 KiB
C++
137 lines
3.3 KiB
C++
#include "perf_cpu_precomp.hpp"
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#ifdef HAVE_CUDA
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//////////////////////////////////////////////////////////////////////
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// StereoBM
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GPU_PERF_TEST_1(StereoBM, cv::gpu::DeviceInfo)
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{
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cv::Mat img_l = readImage("gpu/perf/aloe.jpg", cv::IMREAD_GRAYSCALE);
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ASSERT_FALSE(img_l.empty());
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cv::Mat img_r = readImage("gpu/perf/aloeR.jpg", cv::IMREAD_GRAYSCALE);
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ASSERT_FALSE(img_r.empty());
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cv::StereoBM bm(0, 256);
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cv::Mat dst;
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bm(img_l, img_r, dst);
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declare.time(5.0);
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TEST_CYCLE()
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{
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bm(img_l, img_r, dst);
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}
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}
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INSTANTIATE_TEST_CASE_P(Calib3D, StereoBM, ALL_DEVICES);
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//////////////////////////////////////////////////////////////////////
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// ProjectPoints
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IMPLEMENT_PARAM_CLASS(Count, int)
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GPU_PERF_TEST(ProjectPoints, cv::gpu::DeviceInfo, Count)
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{
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int count = GET_PARAM(1);
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cv::Mat src(1, count, CV_32FC3);
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fill(src, -100, 100);
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cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1);
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cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1);
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cv::Mat camera_mat = cv::Mat::ones(3, 3, CV_32FC1);
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cv::Mat dst;
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cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst);
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TEST_CYCLE()
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{
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cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst);
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}
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}
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INSTANTIATE_TEST_CASE_P(Calib3D, ProjectPoints, testing::Combine(
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ALL_DEVICES,
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testing::Values<Count>(5000, 10000, 20000)));
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//////////////////////////////////////////////////////////////////////
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// SolvePnPRansac
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GPU_PERF_TEST(SolvePnPRansac, cv::gpu::DeviceInfo, Count)
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{
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int count = GET_PARAM(1);
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cv::Mat object(1, count, CV_32FC3);
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fill(object, -100, 100);
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cv::Mat camera_mat(3, 3, CV_32FC1);
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fill(camera_mat, 0.5, 1);
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camera_mat.at<float>(0, 1) = 0.f;
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camera_mat.at<float>(1, 0) = 0.f;
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camera_mat.at<float>(2, 0) = 0.f;
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camera_mat.at<float>(2, 1) = 0.f;
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cv::Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0));
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std::vector<cv::Point2f> image_vec;
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cv::Mat rvec_gold(1, 3, CV_32FC1);
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fill(rvec_gold, 0, 1);
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cv::Mat tvec_gold(1, 3, CV_32FC1);
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fill(tvec_gold, 0, 1);
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cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec);
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cv::Mat image(1, count, CV_32FC2, &image_vec[0]);
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cv::Mat rvec;
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cv::Mat tvec;
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cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
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declare.time(10.0);
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TEST_CYCLE()
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{
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cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
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}
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}
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INSTANTIATE_TEST_CASE_P(Calib3D, SolvePnPRansac, testing::Combine(
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ALL_DEVICES,
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testing::Values<Count>(5000, 10000, 20000)));
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//////////////////////////////////////////////////////////////////////
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// ReprojectImageTo3D
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GPU_PERF_TEST(ReprojectImageTo3D, cv::gpu::DeviceInfo, cv::Size, MatDepth)
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{
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cv::Size size = GET_PARAM(1);
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int depth = GET_PARAM(2);
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cv::Mat src(size, depth);
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fill(src, 5.0, 30.0);
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cv::Mat Q(4, 4, CV_32FC1);
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fill(Q, 0.1, 1.0);
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cv::Mat dst;
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cv::reprojectImageTo3D(src, dst, Q);
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TEST_CYCLE()
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{
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cv::reprojectImageTo3D(src, dst, Q);
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}
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}
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INSTANTIATE_TEST_CASE_P(Calib3D, ReprojectImageTo3D, testing::Combine(
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ALL_DEVICES,
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GPU_TYPICAL_MAT_SIZES,
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testing::Values<MatDepth>(CV_8U, CV_16S)));
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#endif
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