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#include "perf_precomp.hpp"

#ifdef HAVE_OPENCV_3D

#include "opencv2/geometry.hpp"

namespace opencv_test { namespace {

DEF_PARAM_TEST_1(Count, int);

//////////////////////////////////////////////////////////////////////
// ProjectPoints

PERF_TEST_P(Count, Calib3D_ProjectPoints,
            Values(5000, 10000, 20000))
{
    const int count = GetParam();

    cv::Mat src(1, count, CV_32FC3);
    declare.in(src, WARMUP_RNG);

    const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1);
    const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1);
    const cv::Mat camera_mat = cv::Mat::ones(3, 3, CV_32FC1);

    if (PERF_RUN_CUDA())
    {
        const cv::cuda::GpuMat d_src(src);
        cv::cuda::GpuMat dst;

        TEST_CYCLE() cv::cuda::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), dst);

        CUDA_SANITY_CHECK(dst);
    }
    else
    {
        cv::Mat dst;

        TEST_CYCLE() cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst);

        CPU_SANITY_CHECK(dst);
    }
}

//////////////////////////////////////////////////////////////////////
// SolvePnPRansac

PERF_TEST_P(Count, Calib3D_SolvePnPRansac,
            Values(5000, 10000, 20000))
{
    declare.time(10.0);

    const int count = GetParam();

    cv::Mat object(1, count, CV_32FC3);
    declare.in(object, WARMUP_RNG);

    cv::Mat camera_mat(3, 3, CV_32FC1);
    cv::randu(camera_mat, 0.5, 1);
    camera_mat.at<float>(0, 1) = 0.f;
    camera_mat.at<float>(1, 0) = 0.f;
    camera_mat.at<float>(2, 0) = 0.f;
    camera_mat.at<float>(2, 1) = 0.f;

    const cv::Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0));

    cv::Mat rvec_gold(1, 3, CV_32FC1);
    cv::randu(rvec_gold, 0, 1);

    cv::Mat tvec_gold(1, 3, CV_32FC1);
    cv::randu(tvec_gold, 0, 1);

    std::vector<cv::Point2f> image_vec;
    cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec);

    const cv::Mat image(1, count, CV_32FC2, &image_vec[0]);

    cv::Mat rvec;
    cv::Mat tvec;

    if (PERF_RUN_CUDA())
    {
        TEST_CYCLE() cv::cuda::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);

        CUDA_SANITY_CHECK(rvec, 1e-3);
        CUDA_SANITY_CHECK(tvec, 1e-3);
    }
    else
    {
        TEST_CYCLE() cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);

        CPU_SANITY_CHECK(rvec, 1e-6);
        CPU_SANITY_CHECK(tvec, 1e-6);
    }
}

}} // namespace
#endif
