OpenCV/opencv_contrib/modules/cudastereo/perf/perf_stereo.cpp

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#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