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  #include "perf_precomp.hpp"
  
  using namespace std;
  using namespace testing;
  using namespace perf;
  
  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::DualTVL1OpticalFlow> alg = cv::createOptFlow_DualTVL1();
          alg->setMedianFiltering(1);
          alg->setInnerIterations(1);
          alg->setOuterIterations(300);
          TEST_CYCLE() alg->calc(frame0, frame1, flow);
  
          CPU_SANITY_CHECK(flow);
      }
  }