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vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

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modules/cudastereo/perf/perf_main.cpp
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/*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"
using namespace perf;
CV_PERF_TEST_CUDA_MAIN(cudastereo)
modules/cudastereo/perf/perf_precomp.hpp
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/*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*/
#ifndef __OPENCV_PERF_PRECOMP_HPP__
#define __OPENCV_PERF_PRECOMP_HPP__
#include "opencv2/ts.hpp"
#include "opencv2/ts/cuda_perf.hpp"
#include "opencv2/cudastereo.hpp"
#include "opencv2/geometry.hpp"
#include "opencv2/stereo.hpp"
namespace opencv_test {
using namespace perf;
}
#endif
modules/cudastereo/perf/perf_stereo.cpp
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/*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);
}
}
PERF_TEST_P(ImagePair, StereoBMwithUniqueness,
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);
d_bm->setUniquenessRatio(10);
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);
bm->setUniquenessRatio(10);
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();
}
}
//////////////////////////////////////////////////////////////////////
// StereoSGM
PERF_TEST_P(ImagePair, StereoSGM,
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 = 128;
if (PERF_RUN_CUDA())
{
cv::Ptr<cv::cuda::StereoSGM> d_sgm = cv::cuda::createStereoSGM(0, ndisp);
const cv::cuda::GpuMat d_imgLeft(imgLeft);
const cv::cuda::GpuMat d_imgRight(imgRight);
cv::cuda::GpuMat dst;
TEST_CYCLE() d_sgm->compute(d_imgLeft, d_imgRight, dst);
CUDA_SANITY_CHECK(dst);
}
else
{
FAIL_NO_CPU();
}
}
}} // namespace