#include "perf_precomp.hpp" using namespace std; using namespace testing; namespace { ////////////////////////////////////////////////////////////////////// // 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(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 (runOnGpu) { cv::gpu::StereoBM_GPU d_bm(preset, ndisp); cv::gpu::GpuMat d_imgLeft(imgLeft); cv::gpu::GpuMat d_imgRight(imgRight); cv::gpu::GpuMat d_dst; d_bm(d_imgLeft, d_imgRight, d_dst); TEST_CYCLE() { d_bm(d_imgLeft, d_imgRight, d_dst); } } else { cv::StereoBM bm(preset, ndisp); cv::Mat dst; bm(imgLeft, imgRight, dst); TEST_CYCLE() { bm(imgLeft, imgRight, 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 (runOnGpu) { cv::gpu::StereoBeliefPropagation d_bp(ndisp); cv::gpu::GpuMat d_imgLeft(imgLeft); cv::gpu::GpuMat d_imgRight(imgRight); cv::gpu::GpuMat d_dst; d_bp(d_imgLeft, d_imgRight, d_dst); TEST_CYCLE() { d_bp(d_imgLeft, d_imgRight, d_dst); } } else { FAIL(); } } ////////////////////////////////////////////////////////////////////// // 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 (runOnGpu) { cv::gpu::StereoConstantSpaceBP d_csbp(ndisp); cv::gpu::GpuMat d_imgLeft(imgLeft); cv::gpu::GpuMat d_imgRight(imgRight); cv::gpu::GpuMat d_dst; d_csbp(d_imgLeft, d_imgRight, d_dst); TEST_CYCLE() { d_csbp(d_imgLeft, d_imgRight, d_dst); } } else { FAIL(); } } ////////////////////////////////////////////////////////////////////// // 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 (runOnGpu) { cv::gpu::DisparityBilateralFilter d_filter(ndisp); cv::gpu::GpuMat d_img(img); cv::gpu::GpuMat d_disp(disp); cv::gpu::GpuMat d_dst; d_filter(d_disp, d_img, d_dst); TEST_CYCLE() { d_filter(d_disp, d_img, d_dst); } } else { FAIL(); } } ////////////////////////////////////////////////////////////////////// // 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); fillRandom(src, -100, 100); const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1); const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1); if (runOnGpu) { cv::gpu::GpuMat d_src(src); cv::gpu::GpuMat d_dst; cv::gpu::transformPoints(d_src, rvec, tvec, d_dst); TEST_CYCLE() { cv::gpu::transformPoints(d_src, rvec, tvec, d_dst); } } else { FAIL(); } } ////////////////////////////////////////////////////////////////////// // ProjectPoints PERF_TEST_P(Count, Calib3D_ProjectPoints, Values(5000, 10000, 20000)) { const int count = GetParam(); cv::Mat src(1, count, CV_32FC3); fillRandom(src, -100, 100); 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 (runOnGpu) { cv::gpu::GpuMat d_src(src); cv::gpu::GpuMat d_dst; cv::gpu::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), d_dst); TEST_CYCLE() { cv::gpu::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), d_dst); } } else { cv::Mat dst; cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst); TEST_CYCLE() { cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), 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); fillRandom(object, -100, 100); cv::Mat camera_mat(3, 3, CV_32FC1); fillRandom(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)); std::vector image_vec; cv::Mat rvec_gold(1, 3, CV_32FC1); fillRandom(rvec_gold, 0, 1); cv::Mat tvec_gold(1, 3, CV_32FC1); fillRandom(tvec_gold, 0, 1); cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec); cv::Mat image(1, count, CV_32FC2, &image_vec[0]); cv::Mat rvec; cv::Mat tvec; if (runOnGpu) { cv::gpu::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); TEST_CYCLE() { cv::gpu::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); } } else { cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); TEST_CYCLE() { cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); } } } ////////////////////////////////////////////////////////////////////// // 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); fillRandom(src, 5.0, 30.0); cv::Mat Q(4, 4, CV_32FC1); fillRandom(Q, 0.1, 1.0); if (runOnGpu) { cv::gpu::GpuMat d_src(src); cv::gpu::GpuMat d_dst; cv::gpu::reprojectImageTo3D(d_src, d_dst, Q); TEST_CYCLE() { cv::gpu::reprojectImageTo3D(d_src, d_dst, Q); } } else { cv::Mat dst; cv::reprojectImageTo3D(src, dst, Q); TEST_CYCLE() { cv::reprojectImageTo3D(src, dst, Q); } } } ////////////////////////////////////////////////////////////////////// // 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); fillRandom(src, 0, 255); if (runOnGpu) { cv::gpu::GpuMat d_src(src); cv::gpu::GpuMat d_dst; cv::gpu::drawColorDisp(d_src, d_dst, 255); TEST_CYCLE() { cv::gpu::drawColorDisp(d_src, d_dst, 255); } } else { FAIL(); } } } // namespace