/*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" namespace opencv_test { namespace { ////////////////////////////////////////////////////////////////////// // StereoBM typedef 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 DEF_PARAM_TEST(Sz_Depth, cv::Size, MatDepth); 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(); } } }} // namespace