Open Source Computer Vision Library https://opencv.org/
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#include "test_precomp.hpp"
struct CV_GpuStereoBPTest : public cvtest::BaseTest
{
void run(int)
{
cv::Mat img_l = cv::imread(std::string(ts->get_data_path()) + "stereobp/aloe-L.png");
cv::Mat img_r = cv::imread(std::string(ts->get_data_path()) + "stereobp/aloe-R.png");
cv::Mat img_template = cv::imread(std::string(ts->get_data_path()) + "stereobp/aloe-disp.png", 0);
if (img_l.empty() || img_r.empty() || img_template.empty())
{
ts->set_failed_test_info(cvtest::TS::FAIL_MISSING_TEST_DATA);
return;
}
{cv::Mat temp; cv::cvtColor(img_l, temp, CV_BGR2BGRA); cv::swap(temp, img_l);}
{cv::Mat temp; cv::cvtColor(img_r, temp, CV_BGR2BGRA); cv::swap(temp, img_r);}
cv::gpu::StereoBeliefPropagation bpm(64, 8, 2, 25, 0.1f, 15, 1, CV_16S);
cv::gpu::GpuMat disp;
bpm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), disp);
//cv::imwrite(std::string(ts->get_data_path()) + "stereobp/aloe-disp.png", disp);
disp.convertTo(disp, img_template.type());
double norm = cv::norm((cv::Mat)disp, img_template, cv::NORM_INF);
if (norm >= 0.5)
{
ts->printf(cvtest::TS::LOG, "\nStereoBP norm = %f\n", norm);
ts->set_failed_test_info(cvtest::TS::FAIL_GENERIC);
return;
}
ts->set_failed_test_info(cvtest::TS::OK);
}
};
TEST(StereoBP, regression) { CV_GpuStereoBPTest test; test.safe_run(); }