1 /*M///////////////////////////////////////////////////////////////////////////////////////
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8 //
9 //
10 // License Agreement
11 // For Open Source Computer Vision Library
12 //
13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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41 //M*/
42
43 #include "perf_precomp.hpp"
44
45 using namespace std;
46 using namespace testing;
47 using namespace perf;
48
49 //////////////////////////////////////////////////////////////////////
50 // StereoBM
51
52 typedef std::tr1::tuple<string, string> pair_string;
53 DEF_PARAM_TEST_1(ImagePair, pair_string);
54
55 PERF_TEST_P(ImagePair, StereoBM,
56 Values(pair_string("gpu/perf/aloe.png", "gpu/perf/aloeR.png")))
57 {
58 declare.time(300.0);
59
60 const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
61 ASSERT_FALSE(imgLeft.empty());
62
63 const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
64 ASSERT_FALSE(imgRight.empty());
65
66 const int ndisp = 256;
67
68 if (PERF_RUN_CUDA())
69 {
70 cv::Ptr<cv::StereoBM> d_bm = cv::cuda::createStereoBM(ndisp);
71
72 const cv::cuda::GpuMat d_imgLeft(imgLeft);
73 const cv::cuda::GpuMat d_imgRight(imgRight);
74 cv::cuda::GpuMat dst;
75
76 TEST_CYCLE() d_bm->compute(d_imgLeft, d_imgRight, dst);
77
78 CUDA_SANITY_CHECK(dst);
79 }
80 else
81 {
82 cv::Ptr<cv::StereoBM> bm = cv::StereoBM::create(ndisp);
83
84 cv::Mat dst;
85
86 TEST_CYCLE() bm->compute(imgLeft, imgRight, dst);
87
88 CPU_SANITY_CHECK(dst);
89 }
90 }
91
92 //////////////////////////////////////////////////////////////////////
93 // StereoBeliefPropagation
94
95 PERF_TEST_P(ImagePair, StereoBeliefPropagation,
96 Values(pair_string("gpu/stereobp/aloe-L.png", "gpu/stereobp/aloe-R.png")))
97 {
98 declare.time(300.0);
99
100 const cv::Mat imgLeft = readImage(GET_PARAM(0));
101 ASSERT_FALSE(imgLeft.empty());
102
103 const cv::Mat imgRight = readImage(GET_PARAM(1));
104 ASSERT_FALSE(imgRight.empty());
105
106 const int ndisp = 64;
107
108 if (PERF_RUN_CUDA())
109 {
110 cv::Ptr<cv::cuda::StereoBeliefPropagation> d_bp = cv::cuda::createStereoBeliefPropagation(ndisp);
111
112 const cv::cuda::GpuMat d_imgLeft(imgLeft);
113 const cv::cuda::GpuMat d_imgRight(imgRight);
114 cv::cuda::GpuMat dst;
115
116 TEST_CYCLE() d_bp->compute(d_imgLeft, d_imgRight, dst);
117
118 CUDA_SANITY_CHECK(dst);
119 }
120 else
121 {
122 FAIL_NO_CPU();
123 }
124 }
125
126 //////////////////////////////////////////////////////////////////////
127 // StereoConstantSpaceBP
128
129 PERF_TEST_P(ImagePair, StereoConstantSpaceBP,
130 Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-R.png")))
131 {
132 declare.time(300.0);
133
134 const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
135 ASSERT_FALSE(imgLeft.empty());
136
137 const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
138 ASSERT_FALSE(imgRight.empty());
139
140 const int ndisp = 128;
141
142 if (PERF_RUN_CUDA())
143 {
144 cv::Ptr<cv::cuda::StereoConstantSpaceBP> d_csbp = cv::cuda::createStereoConstantSpaceBP(ndisp);
145
146 const cv::cuda::GpuMat d_imgLeft(imgLeft);
147 const cv::cuda::GpuMat d_imgRight(imgRight);
148 cv::cuda::GpuMat dst;
149
150 TEST_CYCLE() d_csbp->compute(d_imgLeft, d_imgRight, dst);
151
152 CUDA_SANITY_CHECK(dst);
153 }
154 else
155 {
156 FAIL_NO_CPU();
157 }
158 }
159
160 //////////////////////////////////////////////////////////////////////
161 // DisparityBilateralFilter
162
163 PERF_TEST_P(ImagePair, DisparityBilateralFilter,
164 Values(pair_string("gpu/stereobm/aloe-L.png", "gpu/stereobm/aloe-disp.png")))
165 {
166 const cv::Mat img = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
167 ASSERT_FALSE(img.empty());
168
169 const cv::Mat disp = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
170 ASSERT_FALSE(disp.empty());
171
172 const int ndisp = 128;
173
174 if (PERF_RUN_CUDA())
175 {
176 cv::Ptr<cv::cuda::DisparityBilateralFilter> d_filter = cv::cuda::createDisparityBilateralFilter(ndisp);
177
178 const cv::cuda::GpuMat d_img(img);
179 const cv::cuda::GpuMat d_disp(disp);
180 cv::cuda::GpuMat dst;
181
182 TEST_CYCLE() d_filter->apply(d_disp, d_img, dst);
183
184 CUDA_SANITY_CHECK(dst);
185 }
186 else
187 {
188 FAIL_NO_CPU();
189 }
190 }
191
192 //////////////////////////////////////////////////////////////////////
193 // ReprojectImageTo3D
194
PERF_TEST_P(Sz_Depth,ReprojectImageTo3D,Combine (CUDA_TYPICAL_MAT_SIZES,Values (CV_8U,CV_16S)))195 PERF_TEST_P(Sz_Depth, ReprojectImageTo3D,
196 Combine(CUDA_TYPICAL_MAT_SIZES,
197 Values(CV_8U, CV_16S)))
198 {
199 const cv::Size size = GET_PARAM(0);
200 const int depth = GET_PARAM(1);
201
202 cv::Mat src(size, depth);
203 declare.in(src, WARMUP_RNG);
204
205 cv::Mat Q(4, 4, CV_32FC1);
206 cv::randu(Q, 0.1, 1.0);
207
208 if (PERF_RUN_CUDA())
209 {
210 const cv::cuda::GpuMat d_src(src);
211 cv::cuda::GpuMat dst;
212
213 TEST_CYCLE() cv::cuda::reprojectImageTo3D(d_src, dst, Q);
214
215 CUDA_SANITY_CHECK(dst);
216 }
217 else
218 {
219 cv::Mat dst;
220
221 TEST_CYCLE() cv::reprojectImageTo3D(src, dst, Q);
222
223 CPU_SANITY_CHECK(dst);
224 }
225 }
226
227 //////////////////////////////////////////////////////////////////////
228 // DrawColorDisp
229
PERF_TEST_P(Sz_Depth,DrawColorDisp,Combine (CUDA_TYPICAL_MAT_SIZES,Values (CV_8U,CV_16S)))230 PERF_TEST_P(Sz_Depth, DrawColorDisp,
231 Combine(CUDA_TYPICAL_MAT_SIZES,
232 Values(CV_8U, CV_16S)))
233 {
234 const cv::Size size = GET_PARAM(0);
235 const int type = GET_PARAM(1);
236
237 cv::Mat src(size, type);
238 declare.in(src, WARMUP_RNG);
239
240 if (PERF_RUN_CUDA())
241 {
242 const cv::cuda::GpuMat d_src(src);
243 cv::cuda::GpuMat dst;
244
245 TEST_CYCLE() cv::cuda::drawColorDisp(d_src, dst, 255);
246
247 CUDA_SANITY_CHECK(dst);
248 }
249 else
250 {
251 FAIL_NO_CPU();
252 }
253 }
254
