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Open Source Computer Vision Library
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197 lines
6.8 KiB
197 lines
6.8 KiB
/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved. |
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// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// @Authors |
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// Peng Xiao, pengxiao@outlook.com |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other oclMaterials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#include "precomp.hpp" |
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#include <iomanip> |
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#ifdef HAVE_OPENCL |
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using namespace cv; |
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extern std::string workdir; |
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PARAM_TEST_CASE(StereoMatchBM, int, int) |
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{ |
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int n_disp; |
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int winSize; |
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virtual void SetUp() |
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{ |
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n_disp = GET_PARAM(0); |
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winSize = GET_PARAM(1); |
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} |
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}; |
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TEST_P(StereoMatchBM, Regression) |
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{ |
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Mat left_image = readImage("stereobm/aloe-L.png", IMREAD_GRAYSCALE); |
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Mat right_image = readImage("stereobm/aloe-R.png", IMREAD_GRAYSCALE); |
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Mat disp_gold = readImage("stereobm/aloe-disp.png", IMREAD_GRAYSCALE); |
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ocl::oclMat d_left, d_right; |
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ocl::oclMat d_disp(left_image.size(), CV_8U); |
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Mat disp; |
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ASSERT_FALSE(left_image.empty()); |
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ASSERT_FALSE(right_image.empty()); |
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ASSERT_FALSE(disp_gold.empty()); |
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d_left.upload(left_image); |
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d_right.upload(right_image); |
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ocl::StereoBM_OCL bm(0, n_disp, winSize); |
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bm(d_left, d_right, d_disp); |
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d_disp.download(disp); |
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EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-3); |
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} |
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INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128), |
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testing::Values(19))); |
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PARAM_TEST_CASE(StereoMatchBP, int, int, int, float, float, float, float) |
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{ |
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int ndisp_; |
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int iters_; |
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int levels_; |
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float max_data_term_; |
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float data_weight_; |
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float max_disc_term_; |
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float disc_single_jump_; |
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virtual void SetUp() |
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{ |
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ndisp_ = GET_PARAM(0); |
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iters_ = GET_PARAM(1); |
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levels_ = GET_PARAM(2); |
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max_data_term_ = GET_PARAM(3); |
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data_weight_ = GET_PARAM(4); |
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max_disc_term_ = GET_PARAM(5); |
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disc_single_jump_ = GET_PARAM(6); |
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} |
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}; |
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TEST_P(StereoMatchBP, Regression) |
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{ |
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Mat left_image = readImage("stereobp/aloe-L.png"); |
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Mat right_image = readImage("stereobp/aloe-R.png"); |
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Mat disp_gold = readImage("stereobp/aloe-disp.png", IMREAD_GRAYSCALE); |
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ocl::oclMat d_left, d_right; |
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ocl::oclMat d_disp; |
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Mat disp; |
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ASSERT_FALSE(left_image.empty()); |
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ASSERT_FALSE(right_image.empty()); |
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ASSERT_FALSE(disp_gold.empty()); |
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d_left.upload(left_image); |
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d_right.upload(right_image); |
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ocl::StereoBeliefPropagation bp(ndisp_, iters_, levels_, max_data_term_, data_weight_, |
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max_disc_term_, disc_single_jump_, CV_16S); |
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bp(d_left, d_right, d_disp); |
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d_disp.download(disp); |
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disp.convertTo(disp, disp_gold.depth()); |
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EXPECT_MAT_NEAR(disp_gold, disp, 0.0); |
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} |
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INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBP, testing::Combine(testing::Values(64), |
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testing::Values(8),testing::Values(2),testing::Values(25.0f), |
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testing::Values(0.1f),testing::Values(15.0f),testing::Values(1.0f))); |
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////////////////////////////////////////////////////////////////////////// |
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// ConstSpaceBeliefPropagation |
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PARAM_TEST_CASE(StereoMatchConstSpaceBP, int, int, int, int, float, float, float, float, int, int) |
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{ |
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int ndisp_; |
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int iters_; |
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int levels_; |
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int nr_plane_; |
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float max_data_term_; |
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float data_weight_; |
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float max_disc_term_; |
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float disc_single_jump_; |
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int min_disp_th_; |
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int msg_type_; |
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virtual void SetUp() |
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{ |
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ndisp_ = GET_PARAM(0); |
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iters_ = GET_PARAM(1); |
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levels_ = GET_PARAM(2); |
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nr_plane_ = GET_PARAM(3); |
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max_data_term_ = GET_PARAM(4); |
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data_weight_ = GET_PARAM(5); |
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max_disc_term_ = GET_PARAM(6); |
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disc_single_jump_ = GET_PARAM(7); |
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min_disp_th_ = GET_PARAM(8); |
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msg_type_ = GET_PARAM(9); |
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} |
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}; |
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TEST_P(StereoMatchConstSpaceBP, Regression) |
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{ |
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Mat left_image = readImage("csstereobp/aloe-L.png"); |
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Mat right_image = readImage("csstereobp/aloe-R.png"); |
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Mat disp_gold = readImage("csstereobp/aloe-disp.png", IMREAD_GRAYSCALE); |
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ocl::oclMat d_left, d_right; |
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ocl::oclMat d_disp; |
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Mat disp; |
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ASSERT_FALSE(left_image.empty()); |
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ASSERT_FALSE(right_image.empty()); |
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ASSERT_FALSE(disp_gold.empty()); |
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d_left.upload(left_image); |
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d_right.upload(right_image); |
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ocl::StereoConstantSpaceBP bp(ndisp_, iters_, levels_, nr_plane_, max_data_term_, data_weight_, |
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max_disc_term_, disc_single_jump_, 0, CV_32F); |
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bp(d_left, d_right, d_disp); |
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d_disp.download(disp); |
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disp.convertTo(disp, disp_gold.depth()); |
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EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-4); |
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//EXPECT_MAT_NEAR(disp_gold, disp, 1.0, ""); |
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} |
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INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchConstSpaceBP, testing::Combine(testing::Values(128), |
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testing::Values(16),testing::Values(4), testing::Values(4), testing::Values(30.0f), |
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testing::Values(1.0f),testing::Values(160.0f), |
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testing::Values(10.0f), testing::Values(0), testing::Values(CV_32F))); |
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#endif // HAVE_OPENCL
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