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  #include "perf_precomp.hpp"
  
  using namespace std;
  using namespace testing;
  using namespace perf;
  
  //////////////////////////////////////////////////////
  // InterpolateFrames
  
  typedef pair<string, string> pair_string;
  
  DEF_PARAM_TEST_1(ImagePair, pair_string);
  
  PERF_TEST_P(ImagePair, InterpolateFrames,
      Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
  {
      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 d_fu, d_fv;
          cv::cuda::GpuMat d_bu, d_bv;
  
          cv::cuda::BroxOpticalFlow d_flow(0.197f /*alpha*/, 50.0f /*gamma*/, 0.8f /*scale_factor*/,
              10 /*inner_iterations*/, 77 /*outer_iterations*/, 10 /*solver_iterations*/);
  
          d_flow(d_frame0, d_frame1, d_fu, d_fv);
          d_flow(d_frame1, d_frame0, d_bu, d_bv);
  
          cv::cuda::GpuMat newFrame;
          cv::cuda::GpuMat d_buf;
  
          TEST_CYCLE() cv::cuda::interpolateFrames(d_frame0, d_frame1, d_fu, d_fv, d_bu, d_bv, 0.5f, newFrame, d_buf);
  
          CUDA_SANITY_CHECK(newFrame, 1e-4);
      }
      else
      {
          FAIL_NO_CPU();
      }
  }
  
  //////////////////////////////////////////////////////
  // CreateOpticalFlowNeedleMap
  
  PERF_TEST_P(ImagePair, CreateOpticalFlowNeedleMap,
              Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
  {
      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 u;
          cv::cuda::GpuMat v;
  
          cv::cuda::BroxOpticalFlow d_flow(0.197f /*alpha*/, 50.0f /*gamma*/, 0.8f /*scale_factor*/,
                                          10 /*inner_iterations*/, 77 /*outer_iterations*/, 10 /*solver_iterations*/);
  
          d_flow(d_frame0, d_frame1, u, v);
  
          cv::cuda::GpuMat vertex, colors;
  
          TEST_CYCLE() cv::cuda::createOpticalFlowNeedleMap(u, v, vertex, colors);
  
          CUDA_SANITY_CHECK(vertex, 1e-6);
          CUDA_SANITY_CHECK(colors);
      }
      else
      {
          FAIL_NO_CPU();
      }
  }
  
  //////////////////////////////////////////////////////
  // 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 u;
          cv::cuda::GpuMat v;
  
          cv::cuda::BroxOpticalFlow d_flow(0.197f /*alpha*/, 50.0f /*gamma*/, 0.8f /*scale_factor*/,
                                          10 /*inner_iterations*/, 77 /*outer_iterations*/, 10 /*solver_iterations*/);
  
          TEST_CYCLE() d_flow(d_frame0, d_frame1, u, v);
  
          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);
  
      const cv::Mat frame0 = readImage(imagePair.first, useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
      ASSERT_FALSE(frame0.empty());
  
      const 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);
  
      if (PERF_RUN_CUDA())
      {
          const cv::cuda::GpuMat d_pts(pts.reshape(2, 1));
  
          cv::cuda::PyrLKOpticalFlow d_pyrLK;
          d_pyrLK.winSize = cv::Size(winSize, winSize);
          d_pyrLK.maxLevel = levels - 1;
          d_pyrLK.iters = 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.sparse(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 u;
          cv::cuda::GpuMat v;
  
          cv::cuda::PyrLKOpticalFlow d_pyrLK;
          d_pyrLK.winSize = cv::Size(winSize, winSize);
          d_pyrLK.maxLevel = levels - 1;
          d_pyrLK.iters = iters;
  
          TEST_CYCLE() d_pyrLK.dense(d_frame0, d_frame1, u, v);
  
          CUDA_SANITY_CHECK(u);
          CUDA_SANITY_CHECK(v);
      }
      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 u;
          cv::cuda::GpuMat v;
  
          cv::cuda::FarnebackOpticalFlow d_farneback;
          d_farneback.numLevels = numLevels;
          d_farneback.pyrScale = pyrScale;
          d_farneback.winSize = winSize;
          d_farneback.numIters = numIters;
          d_farneback.polyN = polyN;
          d_farneback.polySigma = polySigma;
          d_farneback.flags = flags;
  
          TEST_CYCLE() d_farneback(d_frame0, d_frame1, u, v);
  
          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 u;
          cv::cuda::GpuMat v;
  
          cv::cuda::OpticalFlowDual_TVL1_CUDA d_alg;
  
          TEST_CYCLE() d_alg(d_frame0, d_frame1, u, v);
  
          CUDA_SANITY_CHECK(u, 1e-1);
          CUDA_SANITY_CHECK(v, 1e-1);
      }
      else
      {
          cv::Mat flow;
  
          cv::Ptr<cv::DenseOpticalFlow> alg = cv::createOptFlow_DualTVL1();
          alg->set("medianFiltering", 1);
          alg->set("innerIterations", 1);
          alg->set("outerIterations", 300);
          TEST_CYCLE() alg->calc(frame0, frame1, flow);
  
          CPU_SANITY_CHECK(flow);
      }
  }
  
  //////////////////////////////////////////////////////
  // OpticalFlowBM
  
  PERF_TEST_P(ImagePair, OpticalFlowBM,
      Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
  {
      declare.time(400);
  
      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 cv::Size block_size(16, 16);
      const cv::Size shift_size(1, 1);
      const cv::Size max_range(16, 16);
  
      if (PERF_RUN_CUDA())
      {
          const cv::cuda::GpuMat d_frame0(frame0);
          const cv::cuda::GpuMat d_frame1(frame1);
          cv::cuda::GpuMat u, v, buf;
  
          TEST_CYCLE() cv::cuda::calcOpticalFlowBM(d_frame0, d_frame1, block_size, shift_size, max_range, false, u, v, buf);
  
          CUDA_SANITY_CHECK(u);
          CUDA_SANITY_CHECK(v);
      }
      else
      {
          FAIL_NO_CPU();
      }
  }
  
  PERF_TEST_P(ImagePair, DISABLED_FastOpticalFlowBM,
      Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
  {
      declare.time(400);
  
      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 cv::Size block_size(16, 16);
      const cv::Size shift_size(1, 1);
      const cv::Size max_range(16, 16);
  
      if (PERF_RUN_CUDA())
      {
          const cv::cuda::GpuMat d_frame0(frame0);
          const cv::cuda::GpuMat d_frame1(frame1);
          cv::cuda::GpuMat u, v;
  
          cv::cuda::FastOpticalFlowBM fastBM;
  
          TEST_CYCLE() fastBM(d_frame0, d_frame1, u, v, max_range.width, block_size.width);
  
          CUDA_SANITY_CHECK(u, 2);
          CUDA_SANITY_CHECK(v, 2);
      }
      else
      {
          FAIL_NO_CPU();
      }
  }
  