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Merge pull request #9854 from opalmirror:test_stereo_min_disparity_master

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pull/9979/head
Vadim Pisarevsky 7 years ago
parent 15df161b22 4eb9f175a4
commit 87984f2c6a
1 changed files with 95 additions and 9 deletions
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  1. 104
      modules/calib3d/test/test_stereomatching.cpp

104
modules/calib3d/test/test_stereomatching.cpp
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@ -327,9 +327,15 @@ string ERROR_PREFIXES[] = { "borderedAll",
"borderedTextureless",
"borderedDepthDiscont" }; // size of ERROR_KINDS_COUNT
string ROI_PREFIXES[] = { "roiX",
"roiY",
"roiWidth",
"roiHeight" };
const string RMS_STR = "RMS";
const string BAD_PXLS_FRACTION_STR = "BadPxlsFraction";
const string ROI_STR = "ValidDisparityROI";
class QualityEvalParams
{
@ -367,16 +373,20 @@ public:
protected:
// assumed that left image is a reference image
virtual int runStereoMatchingAlgorithm( const Mat& leftImg, const Mat& rightImg,
Mat& leftDisp, Mat& rightDisp, int caseIdx ) = 0; // return ignored border width
Rect& calcROI, Mat& leftDisp, Mat& rightDisp, int caseIdx ) = 0; // return ignored border width
int readDatasetsParams( FileStorage& fs );
virtual int readRunParams( FileStorage& fs );
void writeErrors( const string& errName, const vector<float>& errors, FileStorage* fs = 0 );
void writeROI( const Rect& calcROI, FileStorage* fs = 0 );
void readErrors( FileNode& fn, const string& errName, vector<float>& errors );
void readROI( FileNode& fn, Rect& trueROI );
int compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
const vector<float>& eps, const string& errName );
int compareROI( const Rect& calcROI, const Rect& validROI );
int processStereoMatchingResults( FileStorage& fs, int caseIdx, bool isWrite,
const Mat& leftImg, const Mat& rightImg,
const Rect& calcROI,
const Mat& trueLeftDisp, const Mat& trueRightDisp,
const Mat& leftDisp, const Mat& rightDisp,
const QualityEvalParams& qualityEvalParams );
@ -452,6 +462,7 @@ void CV_StereoMatchingTest::run(int)
Mat rightImg = imread(datasetFullDirName + RIGHT_IMG_NAME);
Mat trueLeftDisp = imread(datasetFullDirName + TRUE_LEFT_DISP_NAME, 0);
Mat trueRightDisp = imread(datasetFullDirName + TRUE_RIGHT_DISP_NAME, 0);
Rect calcROI;
if( leftImg.empty() || rightImg.empty() || trueLeftDisp.empty() )
{
@ -474,7 +485,7 @@ void CV_StereoMatchingTest::run(int)
}
Mat leftDisp, rightDisp;
int ignBorder = max(runStereoMatchingAlgorithm(leftImg, rightImg, leftDisp, rightDisp, ci), EVAL_IGNORE_BORDER);
int ignBorder = max(runStereoMatchingAlgorithm(leftImg, rightImg, calcROI, leftDisp, rightDisp, ci), EVAL_IGNORE_BORDER);
leftDisp.convertTo( tmp, CV_32FC1 );
leftDisp = tmp;
@ -485,7 +496,7 @@ void CV_StereoMatchingTest::run(int)
tmp.release();
int tempCode = processStereoMatchingResults( resFS, ci, isWrite,
leftImg, rightImg, trueLeftDisp, trueRightDisp, leftDisp, rightDisp, QualityEvalParams(ignBorder));
leftImg, rightImg, calcROI, trueLeftDisp, trueRightDisp, leftDisp, rightDisp, QualityEvalParams(ignBorder));
code = tempCode==cvtest::TS::OK ? code : tempCode;
}
@ -539,6 +550,7 @@ void calcErrors( const Mat& leftImg, const Mat& /*rightImg*/,
int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int caseIdx, bool isWrite,
const Mat& leftImg, const Mat& rightImg,
const Rect& calcROI,
const Mat& trueLeftDisp, const Mat& trueRightDisp,
const Mat& leftDisp, const Mat& rightDisp,
const QualityEvalParams& qualityEvalParams )
@ -571,10 +583,12 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int ca
if( isWrite )
{
fs << caseNames[caseIdx] << "{";
//cvWriteComment( fs.fs, RMS_STR.c_str(), 0 );
fs.writeComment( RMS_STR, 0 );
writeErrors( RMS_STR, rmss, &fs );
//cvWriteComment( fs.fs, BAD_PXLS_FRACTION_STR.c_str(), 0 );
fs.writeComment( BAD_PXLS_FRACTION_STR, 0 );
writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions, &fs );
fs.writeComment( ROI_STR, 0 );
writeROI( calcROI, &fs );
fs << "}"; // datasetName
}
else // compare
@ -584,16 +598,22 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int ca
writeErrors( RMS_STR, rmss );
ts->printf( cvtest::TS::LOG, "%s\n", BAD_PXLS_FRACTION_STR.c_str() );
writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions );
ts->printf( cvtest::TS::LOG, "%s\n", ROI_STR.c_str() );
writeROI( calcROI );
FileNode fn = fs.getFirstTopLevelNode()[caseNames[caseIdx]];
vector<float> validRmss, validBadPxlsFractions;
Rect validROI;
readErrors( fn, RMS_STR, validRmss );
readErrors( fn, BAD_PXLS_FRACTION_STR, validBadPxlsFractions );
readROI( fn, validROI );
int tempCode = compareErrors( rmss, validRmss, rmsEps, RMS_STR );
code = tempCode==cvtest::TS::OK ? code : tempCode;
tempCode = compareErrors( badPxlsFractions, validBadPxlsFractions, fracEps, BAD_PXLS_FRACTION_STR );
code = tempCode==cvtest::TS::OK ? code : tempCode;
tempCode = compareROI( calcROI, validROI );
code = tempCode==cvtest::TS::OK ? code : tempCode;
}
return code;
}
@ -643,6 +663,24 @@ void CV_StereoMatchingTest::writeErrors( const string& errName, const vector<flo
ts->printf( cvtest::TS::LOG, "%s = %f\n", string(ERROR_PREFIXES[i]+errName).c_str(), *it );
}
void CV_StereoMatchingTest::writeROI( const Rect& calcROI, FileStorage* fs )
{
if( fs )
{
*fs << ROI_PREFIXES[0] << calcROI.x;
*fs << ROI_PREFIXES[1] << calcROI.y;
*fs << ROI_PREFIXES[2] << calcROI.width;
*fs << ROI_PREFIXES[3] << calcROI.height;
}
else
{
ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[0].c_str(), calcROI.x );
ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[1].c_str(), calcROI.y );
ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[2].c_str(), calcROI.width );
ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[3].c_str(), calcROI.height );
}
}
void CV_StereoMatchingTest::readErrors( FileNode& fn, const string& errName, vector<float>& errors )
{
errors.resize( ERROR_KINDS_COUNT );
@ -651,6 +689,14 @@ void CV_StereoMatchingTest::readErrors( FileNode& fn, const string& errName, vec
fn[ERROR_PREFIXES[i]+errName] >> *it;
}
void CV_StereoMatchingTest::readROI( FileNode& fn, Rect& validROI )
{
fn[ROI_PREFIXES[0]] >> validROI.x;
fn[ROI_PREFIXES[1]] >> validROI.y;
fn[ROI_PREFIXES[2]] >> validROI.width;
fn[ROI_PREFIXES[3]] >> validROI.height;
}
int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
const vector<float>& eps, const string& errName )
{
@ -670,6 +716,26 @@ int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const
return ok ? cvtest::TS::OK : cvtest::TS::FAIL_BAD_ACCURACY;
}
int CV_StereoMatchingTest::compareROI( const Rect& calcROI, const Rect& validROI )
{
int compare[4][2] = {
{ calcROI.x, validROI.x },
{ calcROI.y, validROI.y },
{ calcROI.width, validROI.width },
{ calcROI.height, validROI.height },
};
bool ok = true;
for (int i = 0; i < 4; i++)
{
if (compare[i][0] != compare[i][1])
{
ts->printf( cvtest::TS::LOG, "bad accuracy of %s (valid=%d; calc=%d)\n", ROI_PREFIXES[i].c_str(), compare[i][1], compare[i][0] );
ok = false;
}
}
return ok ? cvtest::TS::OK : cvtest::TS::FAIL_BAD_ACCURACY;
}
//----------------------------------- StereoBM test -----------------------------------------------------
class CV_StereoBMTest : public CV_StereoMatchingTest
@ -686,6 +752,7 @@ protected:
struct RunParams
{
int ndisp;
int mindisp;
int winSize;
};
vector<RunParams> caseRunParams;
@ -695,12 +762,13 @@ protected:
int code = CV_StereoMatchingTest::readRunParams( fs );
FileNode fn = fs.getFirstTopLevelNode();
assert(fn.isSeq());
for( int i = 0; i < (int)fn.size(); i+=4 )
for( int i = 0; i < (int)fn.size(); i+=5 )
{
String caseName = fn[i], datasetName = fn[i+1];
RunParams params;
String ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
String winSize = fn[i+3]; params.winSize = atoi(winSize.c_str());
String mindisp = fn[i+3]; params.mindisp = atoi(mindisp.c_str());
String winSize = fn[i+4]; params.winSize = atoi(winSize.c_str());
caseNames.push_back( caseName );
caseDatasets.push_back( datasetName );
caseRunParams.push_back( params );
@ -709,7 +777,7 @@ protected:
}
virtual int runStereoMatchingAlgorithm( const Mat& _leftImg, const Mat& _rightImg,
Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
{
RunParams params = caseRunParams[caseIdx];
assert( params.ndisp%16 == 0 );
@ -719,8 +787,22 @@ protected:
Ptr<StereoBM> bm = StereoBM::create( params.ndisp, params.winSize );
Mat tempDisp;
bm->setMinDisparity(params.mindisp);
Rect cROI(0, 0, _leftImg.cols, _leftImg.rows);
calcROI = getValidDisparityROI(cROI, cROI, params.mindisp, params.ndisp, params.winSize);
bm->compute( leftImg, rightImg, tempDisp );
tempDisp.convertTo(leftDisp, CV_32F, 1./StereoMatcher::DISP_SCALE);
if (params.mindisp != 0)
for (int y = 0; y < leftDisp.rows; y++)
for (int x = 0; x < leftDisp.cols; x++)
{
if (leftDisp.at<float>(y, x) < params.mindisp)
leftDisp.at<float>(y, x) = -1./StereoMatcher::DISP_SCALE; // treat disparity < mindisp as no disparity
}
return params.winSize/2;
}
};
@ -766,7 +848,7 @@ protected:
}
virtual int runStereoMatchingAlgorithm( const Mat& leftImg, const Mat& rightImg,
Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
{
RunParams params = caseRunParams[caseIdx];
assert( params.ndisp%16 == 0 );
@ -774,6 +856,10 @@ protected:
10*params.winSize*params.winSize,
40*params.winSize*params.winSize,
1, 63, 10, 100, 32, params.mode );
Rect cROI(0, 0, leftImg.cols, leftImg.rows);
calcROI = getValidDisparityROI(cROI, cROI, 0, params.ndisp, params.winSize);
sgbm->compute( leftImg, rightImg, leftDisp );
CV_Assert( leftDisp.type() == CV_16SC1 );
leftDisp/=16;

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