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Merge pull request #19712 from OrestChura:oc/Kalm_ptest

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[G-API]: Performance tests for KalmanFilter

* Kalman perf.tests and some tests refactoring

* Input generation moved to a separate function; Slowest case sneario testing added

* Generating refactored

* Generating refactoring

* Addressing comments
This commit is contained in:
Orest Chura
2021-03-26 12:41:54 +03:00
committed by GitHub
parent 77bfd9434b
commit ad2f5ccc66
6 changed files with 233 additions and 65 deletions
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modules/gapi/src/backends/cpu/gcpuvideo.cpp
+13 -13
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@@ -117,15 +117,15 @@ GAPI_OCV_KERNEL_ST(GCPUKalmanFilter, cv::gapi::video::GKalmanFilter, cv::KalmanF
kfParams.controlMatrix.cols, kfParams.transitionMatrix.type());
// initial state
state->statePost = kfParams.state;
state->errorCovPost = kfParams.errorCov;
kfParams.state.copyTo(state->statePost);
kfParams.errorCov.copyTo(state->errorCovPost);
// dynamic system initialization
state->controlMatrix = kfParams.controlMatrix;
state->measurementMatrix = kfParams.measurementMatrix;
state->transitionMatrix = kfParams.transitionMatrix;
state->processNoiseCov = kfParams.processNoiseCov;
state->measurementNoiseCov = kfParams.measurementNoiseCov;
kfParams.controlMatrix.copyTo(state->controlMatrix);
kfParams.measurementMatrix.copyTo(state->measurementMatrix);
kfParams.transitionMatrix.copyTo(state->transitionMatrix);
kfParams.processNoiseCov.copyTo(state->processNoiseCov);
kfParams.measurementNoiseCov.copyTo(state->measurementNoiseCov);
}
static void run(const cv::Mat& measurements, bool haveMeasurement,
@@ -151,14 +151,14 @@ GAPI_OCV_KERNEL_ST(GCPUKalmanFilterNoControl, cv::gapi::video::GKalmanFilterNoCo
state = std::make_shared<cv::KalmanFilter>(kfParams.transitionMatrix.rows, kfParams.measurementMatrix.rows,
0, kfParams.transitionMatrix.type());
// initial state
state->statePost = kfParams.state;
state->errorCovPost = kfParams.errorCov;
kfParams.state.copyTo(state->statePost);
kfParams.errorCov.copyTo(state->errorCovPost);
// dynamic system initialization
state->measurementMatrix = kfParams.measurementMatrix;
state->transitionMatrix = kfParams.transitionMatrix;
state->processNoiseCov = kfParams.processNoiseCov;
state->measurementNoiseCov = kfParams.measurementNoiseCov;
kfParams.measurementMatrix.copyTo(state->measurementMatrix);
kfParams.transitionMatrix.copyTo(state->transitionMatrix);
kfParams.processNoiseCov.copyTo(state->processNoiseCov);
kfParams.measurementNoiseCov.copyTo(state->measurementNoiseCov);
}
static void run(const cv::Mat& measurements, bool haveMeasurement,