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Open Source Computer Vision Library
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372 lines
10 KiB
372 lines
10 KiB
/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#include "perf_precomp.hpp" |
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#include "opencv2/ts/gpu_perf.hpp" |
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using namespace std; |
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using namespace testing; |
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using namespace perf; |
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////////////////////////////////////////////////////////////////////// |
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// StereoBM |
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typedef std::tr1::tuple<string, string> pair_string; |
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DEF_PARAM_TEST_1(ImagePair, pair_string); |
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PERF_TEST_P(ImagePair, Calib3D_StereoBM, |
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Values(pair_string("gpu/perf/aloe.png", "gpu/perf/aloeR.png"))) |
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{ |
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declare.time(300.0); |
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const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE); |
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ASSERT_FALSE(imgLeft.empty()); |
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const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE); |
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ASSERT_FALSE(imgRight.empty()); |
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const int preset = 0; |
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const int ndisp = 256; |
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if (PERF_RUN_GPU()) |
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{ |
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cv::gpu::StereoBM_GPU d_bm(preset, ndisp); |
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const cv::gpu::GpuMat d_imgLeft(imgLeft); |
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const cv::gpu::GpuMat d_imgRight(imgRight); |
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cv::gpu::GpuMat dst; |
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TEST_CYCLE() d_bm(d_imgLeft, d_imgRight, dst); |
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GPU_SANITY_CHECK(dst); |
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} |
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else |
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{ |
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cv::StereoBM bm(preset, ndisp); |
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cv::Mat dst; |
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TEST_CYCLE() bm(imgLeft, imgRight, dst); |
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CPU_SANITY_CHECK(dst); |
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} |
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} |
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////////////////////////////////////////////////////////////////////// |
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// StereoBeliefPropagation |
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PERF_TEST_P(ImagePair, DISABLED_Calib3D_StereoBeliefPropagation, |
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Values(pair_string("gpu/stereobp/aloe-L.png", "gpu/stereobp/aloe-R.png"))) |
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{ |
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declare.time(300.0); |
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const cv::Mat imgLeft = readImage(GET_PARAM(0)); |
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ASSERT_FALSE(imgLeft.empty()); |
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const cv::Mat imgRight = readImage(GET_PARAM(1)); |
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ASSERT_FALSE(imgRight.empty()); |
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const int ndisp = 64; |
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if (PERF_RUN_GPU()) |
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{ |
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cv::gpu::StereoBeliefPropagation d_bp(ndisp); |
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const cv::gpu::GpuMat d_imgLeft(imgLeft); |
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const cv::gpu::GpuMat d_imgRight(imgRight); |
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cv::gpu::GpuMat dst; |
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TEST_CYCLE() d_bp(d_imgLeft, d_imgRight, dst); |
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GPU_SANITY_CHECK(dst); |
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} |
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else |
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{ |
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FAIL_NO_CPU(); |
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} |
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} |
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////////////////////////////////////////////////////////////////////// |
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// StereoConstantSpaceBP |
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PERF_TEST_P(ImagePair, Calib3D_StereoConstantSpaceBP, |
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Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-R.png"))) |
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{ |
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declare.time(300.0); |
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const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE); |
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ASSERT_FALSE(imgLeft.empty()); |
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const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE); |
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ASSERT_FALSE(imgRight.empty()); |
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const int ndisp = 128; |
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if (PERF_RUN_GPU()) |
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{ |
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cv::gpu::StereoConstantSpaceBP d_csbp(ndisp); |
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const cv::gpu::GpuMat d_imgLeft(imgLeft); |
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const cv::gpu::GpuMat d_imgRight(imgRight); |
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cv::gpu::GpuMat dst; |
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TEST_CYCLE() d_csbp(d_imgLeft, d_imgRight, dst); |
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GPU_SANITY_CHECK(dst); |
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} |
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else |
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{ |
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FAIL_NO_CPU(); |
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} |
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} |
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////////////////////////////////////////////////////////////////////// |
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// DisparityBilateralFilter |
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PERF_TEST_P(ImagePair, Calib3D_DisparityBilateralFilter, |
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Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-disp.png"))) |
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{ |
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const cv::Mat img = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE); |
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ASSERT_FALSE(img.empty()); |
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const cv::Mat disp = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE); |
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ASSERT_FALSE(disp.empty()); |
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const int ndisp = 128; |
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if (PERF_RUN_GPU()) |
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{ |
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cv::gpu::DisparityBilateralFilter d_filter(ndisp); |
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const cv::gpu::GpuMat d_img(img); |
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const cv::gpu::GpuMat d_disp(disp); |
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cv::gpu::GpuMat dst; |
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TEST_CYCLE() d_filter(d_disp, d_img, dst); |
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GPU_SANITY_CHECK(dst); |
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} |
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else |
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{ |
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FAIL_NO_CPU(); |
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} |
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} |
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////////////////////////////////////////////////////////////////////// |
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// TransformPoints |
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DEF_PARAM_TEST_1(Count, int); |
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PERF_TEST_P(Count, Calib3D_TransformPoints, |
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Values(5000, 10000, 20000)) |
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{ |
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const int count = GetParam(); |
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cv::Mat src(1, count, CV_32FC3); |
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declare.in(src, WARMUP_RNG); |
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const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1); |
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const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1); |
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if (PERF_RUN_GPU()) |
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{ |
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const cv::gpu::GpuMat d_src(src); |
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cv::gpu::GpuMat dst; |
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TEST_CYCLE() cv::gpu::transformPoints(d_src, rvec, tvec, dst); |
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GPU_SANITY_CHECK(dst); |
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} |
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else |
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{ |
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FAIL_NO_CPU(); |
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} |
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} |
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////////////////////////////////////////////////////////////////////// |
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// ProjectPoints |
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PERF_TEST_P(Count, Calib3D_ProjectPoints, |
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Values(5000, 10000, 20000)) |
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{ |
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const int count = GetParam(); |
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cv::Mat src(1, count, CV_32FC3); |
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declare.in(src, WARMUP_RNG); |
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const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1); |
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const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1); |
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const cv::Mat camera_mat = cv::Mat::ones(3, 3, CV_32FC1); |
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if (PERF_RUN_GPU()) |
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{ |
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const cv::gpu::GpuMat d_src(src); |
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cv::gpu::GpuMat dst; |
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TEST_CYCLE() cv::gpu::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), dst); |
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GPU_SANITY_CHECK(dst); |
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} |
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else |
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{ |
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cv::Mat dst; |
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TEST_CYCLE() cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst); |
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CPU_SANITY_CHECK(dst); |
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} |
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} |
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////////////////////////////////////////////////////////////////////// |
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// SolvePnPRansac |
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PERF_TEST_P(Count, Calib3D_SolvePnPRansac, |
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Values(5000, 10000, 20000)) |
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{ |
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declare.time(10.0); |
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const int count = GetParam(); |
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cv::Mat object(1, count, CV_32FC3); |
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declare.in(object, WARMUP_RNG); |
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cv::Mat camera_mat(3, 3, CV_32FC1); |
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cv::randu(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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const cv::Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0)); |
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cv::Mat rvec_gold(1, 3, CV_32FC1); |
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cv::randu(rvec_gold, 0, 1); |
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cv::Mat tvec_gold(1, 3, CV_32FC1); |
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cv::randu(tvec_gold, 0, 1); |
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std::vector<cv::Point2f> image_vec; |
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cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec); |
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const 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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if (PERF_RUN_GPU()) |
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{ |
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TEST_CYCLE() cv::gpu::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); |
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GPU_SANITY_CHECK(rvec, 1e-3); |
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GPU_SANITY_CHECK(tvec, 1e-3); |
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} |
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else |
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{ |
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TEST_CYCLE() cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); |
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CPU_SANITY_CHECK(rvec, 1e-6); |
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CPU_SANITY_CHECK(tvec, 1e-6); |
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} |
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} |
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////////////////////////////////////////////////////////////////////// |
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// ReprojectImageTo3D |
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PERF_TEST_P(Sz_Depth, Calib3D_ReprojectImageTo3D, |
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Combine(GPU_TYPICAL_MAT_SIZES, |
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Values(CV_8U, CV_16S))) |
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{ |
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const cv::Size size = GET_PARAM(0); |
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const int depth = GET_PARAM(1); |
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cv::Mat src(size, depth); |
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declare.in(src, WARMUP_RNG); |
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cv::Mat Q(4, 4, CV_32FC1); |
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cv::randu(Q, 0.1, 1.0); |
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if (PERF_RUN_GPU()) |
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{ |
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const cv::gpu::GpuMat d_src(src); |
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cv::gpu::GpuMat dst; |
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TEST_CYCLE() cv::gpu::reprojectImageTo3D(d_src, dst, Q); |
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GPU_SANITY_CHECK(dst, 1e-1, ERROR_RELATIVE); |
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} |
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else |
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{ |
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cv::Mat dst; |
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TEST_CYCLE() cv::reprojectImageTo3D(src, dst, Q); |
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CPU_SANITY_CHECK(dst); |
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} |
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} |
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////////////////////////////////////////////////////////////////////// |
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// DrawColorDisp |
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PERF_TEST_P(Sz_Depth, Calib3D_DrawColorDisp, |
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Combine(GPU_TYPICAL_MAT_SIZES, |
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Values(CV_8U, CV_16S))) |
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{ |
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const cv::Size size = GET_PARAM(0); |
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const int type = GET_PARAM(1); |
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cv::Mat src(size, type); |
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declare.in(src, WARMUP_RNG); |
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if (PERF_RUN_GPU()) |
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{ |
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const cv::gpu::GpuMat d_src(src); |
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cv::gpu::GpuMat dst; |
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TEST_CYCLE() cv::gpu::drawColorDisp(d_src, dst, 255); |
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GPU_SANITY_CHECK(dst); |
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} |
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else |
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{ |
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FAIL_NO_CPU(); |
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} |
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}
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