383 lines
12 KiB
C++
383 lines
12 KiB
C++
|
/*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 {
|
||
|
|
|
||
|
|
typedef pair<string, string> pair_string;
|
||
|
|
|
||
|
|
DEF_PARAM_TEST_1(ImagePair, pair_string);
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////
|
||
|
|
// BroxOpticalFlow
|
||
|
|
|
||
|
|
PERF_TEST_P(ImagePair, BroxOpticalFlow,
|
||
|
|
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
|
||
|
|
{
|
||
|
|
declare.time(300);
|
||
|
|
|
||
|
|
cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
|
||
|
|
ASSERT_FALSE(frame0.empty());
|
||
|
|
|
||
|
|
cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
|
||
|
|
ASSERT_FALSE(frame1.empty());
|
||
|
|
|
||
|
|
frame0.convertTo(frame0, CV_32FC1, 1.0 / 255.0);
|
||
|
|
frame1.convertTo(frame1, CV_32FC1, 1.0 / 255.0);
|
||
|
|
|
||
|
|
if (PERF_RUN_CUDA())
|
||
|
|
{
|
||
|
|
const cv::cuda::GpuMat d_frame0(frame0);
|
||
|
|
const cv::cuda::GpuMat d_frame1(frame1);
|
||
|
|
cv::cuda::GpuMat flow;
|
||
|
|
|
||
|
|
cv::Ptr<cv::cuda::BroxOpticalFlow> d_alg =
|
||
|
|
cv::cuda::BroxOpticalFlow::create(0.197 /*alpha*/, 50.0 /*gamma*/, 0.8 /*scale_factor*/,
|
||
|
|
10 /*inner_iterations*/, 77 /*outer_iterations*/, 10 /*solver_iterations*/);
|
||
|
|
|
||
|
|
TEST_CYCLE() d_alg->calc(d_frame0, d_frame1, flow);
|
||
|
|
|
||
|
|
cv::cuda::GpuMat flows[2];
|
||
|
|
cv::cuda::split(flow, flows);
|
||
|
|
|
||
|
|
cv::cuda::GpuMat u = flows[0];
|
||
|
|
cv::cuda::GpuMat v = flows[1];
|
||
|
|
|
||
|
|
CUDA_SANITY_CHECK(u, 1e-1);
|
||
|
|
CUDA_SANITY_CHECK(v, 1e-1);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
FAIL_NO_CPU();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////
|
||
|
|
// PyrLKOpticalFlowSparse
|
||
|
|
|
||
|
|
DEF_PARAM_TEST(ImagePair_Gray_NPts_WinSz_Levels_Iters, pair_string, bool, int, int, int, int);
|
||
|
|
|
||
|
|
PERF_TEST_P(ImagePair_Gray_NPts_WinSz_Levels_Iters, PyrLKOpticalFlowSparse,
|
||
|
|
Combine(Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")),
|
||
|
|
Bool(),
|
||
|
|
Values(8000),
|
||
|
|
Values(21),
|
||
|
|
Values(1, 3),
|
||
|
|
Values(1, 30)))
|
||
|
|
{
|
||
|
|
declare.time(20.0);
|
||
|
|
|
||
|
|
const pair_string imagePair = GET_PARAM(0);
|
||
|
|
const bool useGray = GET_PARAM(1);
|
||
|
|
const int points = GET_PARAM(2);
|
||
|
|
const int winSize = GET_PARAM(3);
|
||
|
|
const int levels = GET_PARAM(4);
|
||
|
|
const int iters = GET_PARAM(5);
|
||
|
|
|
||
|
|
cv::Mat frame0 = readImage(imagePair.first, useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
|
||
|
|
ASSERT_FALSE(frame0.empty());
|
||
|
|
|
||
|
|
cv::Mat frame1 = readImage(imagePair.second, useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
|
||
|
|
ASSERT_FALSE(frame1.empty());
|
||
|
|
|
||
|
|
cv::Mat gray_frame;
|
||
|
|
if (useGray)
|
||
|
|
gray_frame = frame0;
|
||
|
|
else
|
||
|
|
cv::cvtColor(frame0, gray_frame, cv::COLOR_BGR2GRAY);
|
||
|
|
|
||
|
|
cv::Mat pts;
|
||
|
|
cv::goodFeaturesToTrack(gray_frame, pts, points, 0.01, 0.0);
|
||
|
|
|
||
|
|
frame0.convertTo(frame0, CV_32F);
|
||
|
|
frame1.convertTo(frame1, CV_32F);
|
||
|
|
if(!useGray)
|
||
|
|
{
|
||
|
|
cv::cvtColor(frame0, frame0, cv::COLOR_BGR2BGRA);
|
||
|
|
cv::cvtColor(frame1, frame1, cv::COLOR_BGR2BGRA);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (PERF_RUN_CUDA())
|
||
|
|
{
|
||
|
|
const cv::cuda::GpuMat d_pts(pts.reshape(2, 1));
|
||
|
|
|
||
|
|
cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> d_pyrLK =
|
||
|
|
cv::cuda::SparsePyrLKOpticalFlow::create(cv::Size(winSize, winSize),
|
||
|
|
levels - 1,
|
||
|
|
iters);
|
||
|
|
|
||
|
|
const cv::cuda::GpuMat d_frame0(frame0);
|
||
|
|
const cv::cuda::GpuMat d_frame1(frame1);
|
||
|
|
cv::cuda::GpuMat nextPts;
|
||
|
|
cv::cuda::GpuMat status;
|
||
|
|
|
||
|
|
TEST_CYCLE() d_pyrLK->calc(d_frame0, d_frame1, d_pts, nextPts, status);
|
||
|
|
|
||
|
|
CUDA_SANITY_CHECK(nextPts);
|
||
|
|
CUDA_SANITY_CHECK(status);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
cv::Mat nextPts;
|
||
|
|
cv::Mat status;
|
||
|
|
|
||
|
|
TEST_CYCLE()
|
||
|
|
{
|
||
|
|
cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, cv::noArray(),
|
||
|
|
cv::Size(winSize, winSize), levels - 1,
|
||
|
|
cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, iters, 0.01));
|
||
|
|
}
|
||
|
|
|
||
|
|
CPU_SANITY_CHECK(nextPts);
|
||
|
|
CPU_SANITY_CHECK(status);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////
|
||
|
|
// PyrLKOpticalFlowDense
|
||
|
|
|
||
|
|
DEF_PARAM_TEST(ImagePair_WinSz_Levels_Iters, pair_string, int, int, int);
|
||
|
|
|
||
|
|
PERF_TEST_P(ImagePair_WinSz_Levels_Iters, PyrLKOpticalFlowDense,
|
||
|
|
Combine(Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")),
|
||
|
|
Values(3, 5, 7, 9, 13, 17, 21),
|
||
|
|
Values(1, 3),
|
||
|
|
Values(1, 10)))
|
||
|
|
{
|
||
|
|
declare.time(30);
|
||
|
|
|
||
|
|
const pair_string imagePair = GET_PARAM(0);
|
||
|
|
const int winSize = GET_PARAM(1);
|
||
|
|
const int levels = GET_PARAM(2);
|
||
|
|
const int iters = GET_PARAM(3);
|
||
|
|
|
||
|
|
const cv::Mat frame0 = readImage(imagePair.first, cv::IMREAD_GRAYSCALE);
|
||
|
|
ASSERT_FALSE(frame0.empty());
|
||
|
|
|
||
|
|
const cv::Mat frame1 = readImage(imagePair.second, cv::IMREAD_GRAYSCALE);
|
||
|
|
ASSERT_FALSE(frame1.empty());
|
||
|
|
|
||
|
|
if (PERF_RUN_CUDA())
|
||
|
|
{
|
||
|
|
const cv::cuda::GpuMat d_frame0(frame0);
|
||
|
|
const cv::cuda::GpuMat d_frame1(frame1);
|
||
|
|
cv::cuda::GpuMat flow;
|
||
|
|
|
||
|
|
cv::Ptr<cv::cuda::DensePyrLKOpticalFlow> d_pyrLK =
|
||
|
|
cv::cuda::DensePyrLKOpticalFlow::create(cv::Size(winSize, winSize),
|
||
|
|
levels - 1,
|
||
|
|
iters);
|
||
|
|
|
||
|
|
TEST_CYCLE() d_pyrLK->calc(d_frame0, d_frame1, flow);
|
||
|
|
|
||
|
|
cv::cuda::GpuMat flows[2];
|
||
|
|
cv::cuda::split(flow, flows);
|
||
|
|
|
||
|
|
cv::cuda::GpuMat u = flows[0];
|
||
|
|
cv::cuda::GpuMat v = flows[1];
|
||
|
|
|
||
|
|
// Sanity test fails on Maxwell and CUDA 7.0
|
||
|
|
SANITY_CHECK_NOTHING();
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
FAIL_NO_CPU();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////
|
||
|
|
// FarnebackOpticalFlow
|
||
|
|
|
||
|
|
PERF_TEST_P(ImagePair, FarnebackOpticalFlow,
|
||
|
|
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
|
||
|
|
{
|
||
|
|
declare.time(10);
|
||
|
|
|
||
|
|
const cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
|
||
|
|
ASSERT_FALSE(frame0.empty());
|
||
|
|
|
||
|
|
const cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
|
||
|
|
ASSERT_FALSE(frame1.empty());
|
||
|
|
|
||
|
|
const int numLevels = 5;
|
||
|
|
const double pyrScale = 0.5;
|
||
|
|
const int winSize = 13;
|
||
|
|
const int numIters = 10;
|
||
|
|
const int polyN = 5;
|
||
|
|
const double polySigma = 1.1;
|
||
|
|
const int flags = 0;
|
||
|
|
|
||
|
|
if (PERF_RUN_CUDA())
|
||
|
|
{
|
||
|
|
const cv::cuda::GpuMat d_frame0(frame0);
|
||
|
|
const cv::cuda::GpuMat d_frame1(frame1);
|
||
|
|
cv::cuda::GpuMat flow;
|
||
|
|
|
||
|
|
cv::Ptr<cv::cuda::FarnebackOpticalFlow> d_farneback =
|
||
|
|
cv::cuda::FarnebackOpticalFlow::create(numLevels, pyrScale, false, winSize,
|
||
|
|
numIters, polyN, polySigma, flags);
|
||
|
|
|
||
|
|
TEST_CYCLE() d_farneback->calc(d_frame0, d_frame1, flow);
|
||
|
|
|
||
|
|
cv::cuda::GpuMat flows[2];
|
||
|
|
cv::cuda::split(flow, flows);
|
||
|
|
|
||
|
|
cv::cuda::GpuMat u = flows[0];
|
||
|
|
cv::cuda::GpuMat v = flows[1];
|
||
|
|
|
||
|
|
CUDA_SANITY_CHECK(u, 1e-4);
|
||
|
|
CUDA_SANITY_CHECK(v, 1e-4);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
cv::Mat flow;
|
||
|
|
|
||
|
|
TEST_CYCLE() cv::calcOpticalFlowFarneback(frame0, frame1, flow, pyrScale, numLevels, winSize, numIters, polyN, polySigma, flags);
|
||
|
|
|
||
|
|
CPU_SANITY_CHECK(flow);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////
|
||
|
|
// OpticalFlowDual_TVL1
|
||
|
|
|
||
|
|
PERF_TEST_P(ImagePair, OpticalFlowDual_TVL1,
|
||
|
|
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
|
||
|
|
{
|
||
|
|
declare.time(20);
|
||
|
|
|
||
|
|
const cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
|
||
|
|
ASSERT_FALSE(frame0.empty());
|
||
|
|
|
||
|
|
const cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
|
||
|
|
ASSERT_FALSE(frame1.empty());
|
||
|
|
|
||
|
|
if (PERF_RUN_CUDA())
|
||
|
|
{
|
||
|
|
const cv::cuda::GpuMat d_frame0(frame0);
|
||
|
|
const cv::cuda::GpuMat d_frame1(frame1);
|
||
|
|
cv::cuda::GpuMat flow;
|
||
|
|
|
||
|
|
cv::Ptr<cv::cuda::OpticalFlowDual_TVL1> d_alg =
|
||
|
|
cv::cuda::OpticalFlowDual_TVL1::create();
|
||
|
|
|
||
|
|
TEST_CYCLE() d_alg->calc(d_frame0, d_frame1, flow);
|
||
|
|
|
||
|
|
cv::cuda::GpuMat flows[2];
|
||
|
|
cv::cuda::split(flow, flows);
|
||
|
|
|
||
|
|
cv::cuda::GpuMat u = flows[0];
|
||
|
|
cv::cuda::GpuMat v = flows[1];
|
||
|
|
|
||
|
|
CUDA_SANITY_CHECK(u, 1e-1);
|
||
|
|
CUDA_SANITY_CHECK(v, 1e-1);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
cv::Mat flow;
|
||
|
|
|
||
|
|
cv::Ptr<cv::optflow::DualTVL1OpticalFlow> alg = cv::optflow::createOptFlow_DualTVL1();
|
||
|
|
alg->setMedianFiltering(1);
|
||
|
|
alg->setInnerIterations(1);
|
||
|
|
alg->setOuterIterations(300);
|
||
|
|
TEST_CYCLE() alg->calc(frame0, frame1, flow);
|
||
|
|
|
||
|
|
CPU_SANITY_CHECK(flow);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////
|
||
|
|
// NvidiaOpticalFlow_1_0
|
||
|
|
|
||
|
|
PERF_TEST_P(ImagePair, NvidiaOpticalFlow_1_0,
|
||
|
|
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
|
||
|
|
{
|
||
|
|
declare.time(10);
|
||
|
|
|
||
|
|
const cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
|
||
|
|
ASSERT_FALSE(frame0.empty());
|
||
|
|
|
||
|
|
const cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
|
||
|
|
ASSERT_FALSE(frame1.empty());
|
||
|
|
|
||
|
|
const int width = frame0.size().width;
|
||
|
|
const int height = frame0.size().height;
|
||
|
|
const bool enableTemporalHints = false;
|
||
|
|
const bool enableExternalHints = false;
|
||
|
|
const bool enableCostBuffer = false;
|
||
|
|
const int gpuid = 0;
|
||
|
|
|
||
|
|
if (PERF_RUN_CUDA())
|
||
|
|
{
|
||
|
|
const cv::cuda::GpuMat d_frame0(frame0);
|
||
|
|
const cv::cuda::GpuMat d_frame1(frame1);
|
||
|
|
cv::cuda::GpuMat d_flow;
|
||
|
|
cv::Ptr<cv::cuda::NvidiaOpticalFlow_1_0> d_nvof;
|
||
|
|
try
|
||
|
|
{
|
||
|
|
d_nvof = cv::cuda::NvidiaOpticalFlow_1_0::create(width, height,
|
||
|
|
cv::cuda::NvidiaOpticalFlow_1_0::NVIDIA_OF_PERF_LEVEL::NV_OF_PERF_LEVEL_FAST,
|
||
|
|
enableTemporalHints, enableExternalHints, enableCostBuffer, gpuid);
|
||
|
|
}
|
||
|
|
catch (const cv::Exception& e)
|
||
|
|
{
|
||
|
|
if(e.code == Error::StsBadFunc || e.code == Error::StsBadArg || e.code == Error::StsNullPtr)
|
||
|
|
throw SkipTestException("Current configuration is not supported");
|
||
|
|
throw;
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CYCLE() d_nvof->calc(d_frame0, d_frame1, d_flow);
|
||
|
|
|
||
|
|
cv::cuda::GpuMat flow[2];
|
||
|
|
cv::cuda::split(d_flow, flow);
|
||
|
|
|
||
|
|
cv::cuda::GpuMat u = flow[0];
|
||
|
|
cv::cuda::GpuMat v = flow[1];
|
||
|
|
|
||
|
|
CUDA_SANITY_CHECK(u, 1e-10);
|
||
|
|
CUDA_SANITY_CHECK(v, 1e-10);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}} // namespace
|