1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #include "perf_precomp.hpp" 44 45 #ifdef HAVE_OPENCV_CALIB3D 46 47 #include "opencv2/calib3d.hpp" 48 49 using namespace std; 50 using namespace testing; 51 using namespace perf; 52 53 DEF_PARAM_TEST_1(Count, int); 54 55 ////////////////////////////////////////////////////////////////////// 56 // ProjectPoints 57 58 PERF_TEST_P(Count, Calib3D_ProjectPoints, 59 Values(5000, 10000, 20000)) 60 { 61 const int count = GetParam(); 62 63 cv::Mat src(1, count, CV_32FC3); 64 declare.in(src, WARMUP_RNG); 65 66 const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1); 67 const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1); 68 const cv::Mat camera_mat = cv::Mat::ones(3, 3, CV_32FC1); 69 70 if (PERF_RUN_CUDA()) 71 { 72 const cv::cuda::GpuMat d_src(src); 73 cv::cuda::GpuMat dst; 74 75 TEST_CYCLE() cv::cuda::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), dst); 76 77 CUDA_SANITY_CHECK(dst); 78 } 79 else 80 { 81 cv::Mat dst; 82 83 TEST_CYCLE() cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst); 84 85 CPU_SANITY_CHECK(dst); 86 } 87 } 88 89 ////////////////////////////////////////////////////////////////////// 90 // SolvePnPRansac 91 92 PERF_TEST_P(Count, Calib3D_SolvePnPRansac, 93 Values(5000, 10000, 20000)) 94 { 95 declare.time(10.0); 96 97 const int count = GetParam(); 98 99 cv::Mat object(1, count, CV_32FC3); 100 declare.in(object, WARMUP_RNG); 101 102 cv::Mat camera_mat(3, 3, CV_32FC1); 103 cv::randu(camera_mat, 0.5, 1); 104 camera_mat.at<float>(0, 1) = 0.f; 105 camera_mat.at<float>(1, 0) = 0.f; 106 camera_mat.at<float>(2, 0) = 0.f; 107 camera_mat.at<float>(2, 1) = 0.f; 108 109 const cv::Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0)); 110 111 cv::Mat rvec_gold(1, 3, CV_32FC1); 112 cv::randu(rvec_gold, 0, 1); 113 114 cv::Mat tvec_gold(1, 3, CV_32FC1); 115 cv::randu(tvec_gold, 0, 1); 116 117 std::vector<cv::Point2f> image_vec; 118 cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec); 119 120 const cv::Mat image(1, count, CV_32FC2, &image_vec[0]); 121 122 cv::Mat rvec; 123 cv::Mat tvec; 124 125 if (PERF_RUN_CUDA()) 126 { 127 TEST_CYCLE() cv::cuda::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); 128 129 CUDA_SANITY_CHECK(rvec, 1e-3); 130 CUDA_SANITY_CHECK(tvec, 1e-3); 131 } 132 else 133 { 134 TEST_CYCLE() cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); 135 136 CPU_SANITY_CHECK(rvec, 1e-6); 137 CPU_SANITY_CHECK(tvec, 1e-6); 138 } 139 } 140 141 #endif 142