added simple HAL test; added RHO homography test

modules/calib3d/test/test_homography.cpp

@@ -662,7 +662,7 @@ TEST(Calib3d_Homography, fromImages)
     std::vector< DMatch > good_matches;
     for( int i = 0; i < descriptors_1.rows; i++ )
     {
-        if( matches[i].distance <= 42 )
+        if( matches[i].distance <= 100 )
             good_matches.push_back( matches[i]);
     }
 
@@ -676,13 +676,32 @@ TEST(Calib3d_Homography, fromImages)
         pointframe2.push_back( keypoints_2[ good_matches[i].trainIdx ].pt );
     }
 
-    Mat inliers;
-    Mat H = findHomography( pointframe1, pointframe2, RANSAC,3.0,inliers);
-    int ninliers = countNonZero(inliers);
-    printf("nfeatures1 = %d, nfeatures2=%d, good matches=%d, ninliers=%d\n",
+    Mat H0, H1, inliers0, inliers1;
+    double min_t0 = DBL_MAX, min_t1 = DBL_MAX;
+    for( int i = 0; i < 10; i++ )
+    {
+        double t = (double)getTickCount();
+        H0 = findHomography( pointframe1, pointframe2, RANSAC, 3.0, inliers0 );
+        t = (double)getTickCount() - t;
+        min_t0 = std::min(min_t0, t);
+    }
+    int ninliers0 = countNonZero(inliers0);
+    for( int i = 0; i < 10; i++ )
+    {
+        double t = (double)getTickCount();
+        H1 = findHomography( pointframe1, pointframe2, RHO, 3.0, inliers1 );
+        t = (double)getTickCount() - t;
+        min_t1 = std::min(min_t1, t);
+    }
+    int ninliers1 = countNonZero(inliers1);
+    double freq = getTickFrequency();
+    printf("nfeatures1 = %d, nfeatures2=%d, matches=%d, ninliers(RANSAC)=%d, "
+           "time(RANSAC)=%.2fmsec, ninliers(RHO)=%d, time(RHO)=%.2fmsec\n",
            (int)keypoints_1.size(), (int)keypoints_2.size(),
-           (int)good_matches.size(), ninliers);
+           (int)good_matches.size(), ninliers0, min_t0*1000./freq, ninliers1, min_t1*1000./freq);
 
-    ASSERT_TRUE(!H.empty());
-    ASSERT_GE(ninliers, 80);
+    ASSERT_TRUE(!H0.empty());
+    ASSERT_GE(ninliers0, 80);
+    ASSERT_TRUE(!H1.empty());
+    ASSERT_GE(ninliers1, 80);
 }

modules/core/test/test_hal_core.cpp

+/*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) 2013, OpenCV Foundation, 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 OpenCV Foundation 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 "test_precomp.hpp"
+#include "opencv2/hal.hpp"
+
+using namespace cv;
+
+enum
+{
+    HAL_EXP = 0,
+    HAL_LOG = 1,
+    HAL_SQRT = 2
+};
+
+TEST(Core_HAL, mathfuncs)
+{
+    for( int hcase = 0; hcase < 6; hcase++ )
+    {
+        int depth = hcase % 2 == 0 ? CV_32F : CV_64F;
+        double eps = depth == CV_32F ? 1e-5 : 1e-10;
+        int nfunc = hcase / 2;
+        int n = 100;
+
+        Mat src(1, n, depth), dst(1, n, depth), dst0(1, n, depth);
+        randu(src, 1, 10);
+
+        double min_hal_t = DBL_MAX, min_ocv_t = DBL_MAX;
+
+        for( int iter = 0; iter < 10; iter++ )
+        {
+            double t = (double)getTickCount();
+            switch (nfunc)
+            {
+            case HAL_EXP:
+                if( depth == CV_32F )
+                    hal::exp(src.ptr<float>(), dst.ptr<float>(), n);
+                else
+                    hal::exp(src.ptr<double>(), dst.ptr<double>(), n);
+                break;
+            case HAL_LOG:
+                if( depth == CV_32F )
+                    hal::log(src.ptr<float>(), dst.ptr<float>(), n);
+                else
+                    hal::log(src.ptr<double>(), dst.ptr<double>(), n);
+                break;
+            case HAL_SQRT:
+                if( depth == CV_32F )
+                    hal::sqrt(src.ptr<float>(), dst.ptr<float>(), n);
+                else
+                    hal::sqrt(src.ptr<double>(), dst.ptr<double>(), n);
+                break;
+            default:
+                CV_Error(Error::StsBadArg, "unknown function");
+            }
+            t = (double)getTickCount() - t;
+            min_hal_t = std::min(min_hal_t, t);
+
+            t = (double)getTickCount();
+            switch (nfunc)
+            {
+            case HAL_EXP:
+                exp(src, dst0);
+                break;
+            case HAL_LOG:
+                log(src, dst0);
+                break;
+            case HAL_SQRT:
+                pow(src, 0.5, dst0);
+                break;
+            default:
+                CV_Error(Error::StsBadArg, "unknown function");
+            }
+            t = (double)getTickCount() - t;
+            min_ocv_t = std::min(min_ocv_t, t);
+        }
+        EXPECT_LE(norm(dst, dst0, NORM_INF | NORM_RELATIVE), eps);
+
+        double freq = getTickFrequency();
+        printf("%s (N=%d, %s): hal time=%.2fusec, ocv time=%.2fusec\n",
+               (nfunc == HAL_EXP ? "exp" : nfunc == HAL_LOG ? "log" : nfunc == HAL_SQRT ? "sqrt" : "???"),
+               n, (depth == CV_32F ? "f32" : "f64"), min_hal_t*1e6/freq, min_ocv_t*1e6/freq);
+    }
+}
+
+enum
+{
+    HAL_LU = 0,
+    HAL_CHOL = 1
+};
+
+TEST(Core_HAL, mat_decomp)
+{
+    for( int hcase = 0; hcase < 16; hcase++ )
+    {
+        int depth = hcase % 2 == 0 ? CV_32F : CV_64F;
+        int size = (hcase / 2) % 4;
+        size = size == 0 ? 3 : size == 1 ? 4  : size == 2 ? 6 : 15;
+        int nfunc = (hcase / 8);
+        double eps = depth == CV_32F ? 1e-5 : 1e-10;
+
+        if( size == 3 )
+            continue;
+
+        Mat a0(size, size, depth), a(size, size, depth), b(size, 1, depth), x(size, 1, depth), x0(size, 1, depth);
+        randu(a0, -1, 1);
+        a0 = a0*a0.t();
+        randu(b, -1, 1);
+
+        double min_hal_t = DBL_MAX, min_ocv_t = DBL_MAX;
+        size_t asize = size*size*a.elemSize();
+        size_t bsize = size*b.elemSize();
+
+        for( int iter = 0; iter < 10; iter++ )
+        {
+            memcpy(x.ptr(), b.ptr(), bsize);
+            memcpy(a.ptr(), a0.ptr(), asize);
+
+            double t = (double)getTickCount();
+            switch (nfunc)
+            {
+            case HAL_LU:
+                if( depth == CV_32F )
+                    hal::LU(a.ptr<float>(), a.step, size, x.ptr<float>(), x.step, 1);
+                else
+                    hal::LU(a.ptr<double>(), a.step, size, x.ptr<double>(), x.step, 1);
+                break;
+            case HAL_CHOL:
+                if( depth == CV_32F )
+                    hal::Cholesky(a.ptr<float>(), a.step, size, x.ptr<float>(), x.step, 1);
+                else
+                    hal::Cholesky(a.ptr<double>(), a.step, size, x.ptr<double>(), x.step, 1);
+                break;
+            default:
+                CV_Error(Error::StsBadArg, "unknown function");
+            }
+            t = (double)getTickCount() - t;
+            min_hal_t = std::min(min_hal_t, t);
+
+            t = (double)getTickCount();
+            solve(a0, b, x0, (nfunc == HAL_LU ? DECOMP_LU : DECOMP_CHOLESKY));
+            t = (double)getTickCount() - t;
+            min_ocv_t = std::min(min_ocv_t, t);
+        }
+        //std::cout << "x: " << Mat(x.t()) << std::endl;
+        //std::cout << "x0: " << Mat(x0.t()) << std::endl;
+
+        EXPECT_LE(norm(x, x0, NORM_INF | NORM_RELATIVE), eps);
+
+        double freq = getTickFrequency();
+        printf("%s (%d x %d, %s): hal time=%.2fusec, ocv time=%.2fusec\n",
+               (nfunc == HAL_LU ? "LU" : nfunc == HAL_CHOL ? "Cholesky" : "???"),
+               size, size,
+               (depth == CV_32F ? "f32" : "f64"),
+               min_hal_t*1e6/freq, min_ocv_t*1e6/freq);
+    }
+}