modules/ocl/test/test_calib3d.cpp

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  10 //                           License Agreement
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  17 // @Authors
  18 //     Peng Xiao, pengxiao@outlook.com
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  45
  46 #include "precomp.hpp"
  47 #include <iomanip>
  48
  49 #ifdef HAVE_OPENCL
  50
  51 using namespace cv;
  52
  53 extern std::string workdir;
  54 PARAM_TEST_CASE(StereoMatchBM, int, int)
  55 {
  56     int n_disp;
  57     int winSize;
  58
  59     virtual void SetUp()
  60     {
  61         n_disp  = GET_PARAM(0);
  62         winSize = GET_PARAM(1);
  63     }
  64 };
  65
  66 TEST_P(StereoMatchBM, Regression)
  67 {
  68
  69     Mat left_image  = readImage("stereobm/aloe-L.png", IMREAD_GRAYSCALE);
  70     Mat right_image = readImage("stereobm/aloe-R.png", IMREAD_GRAYSCALE);
  71     Mat disp_gold   = readImage("stereobm/aloe-disp.png", IMREAD_GRAYSCALE);
  72     ocl::oclMat d_left, d_right;
  73     ocl::oclMat d_disp(left_image.size(), CV_8U);
  74     Mat  disp;
  75
  76     ASSERT_FALSE(left_image.empty());
  77     ASSERT_FALSE(right_image.empty());
  78     ASSERT_FALSE(disp_gold.empty());
  79     d_left.upload(left_image);
  80     d_right.upload(right_image);
  81
  82     ocl::StereoBM_OCL bm(0, n_disp, winSize);
  83
  84
  85     bm(d_left, d_right, d_disp);
  86     d_disp.download(disp);
  87
  88     EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-3);
  89 }
  90
  91 INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128),
  92                                        testing::Values(19)));
  93
  94 PARAM_TEST_CASE(StereoMatchBP, int, int, int, float, float, float, float)
  95 {
  96     int ndisp_;
  97     int iters_;
  98     int levels_;
  99     float max_data_term_;
 100     float data_weight_;
 101     float max_disc_term_;
 102     float disc_single_jump_;
 103     virtual void SetUp()
 104     {
 105         ndisp_          = GET_PARAM(0);
 106         iters_          = GET_PARAM(1);
 107         levels_         = GET_PARAM(2);
 108         max_data_term_  = GET_PARAM(3);
 109         data_weight_    = GET_PARAM(4);
 110         max_disc_term_     = GET_PARAM(5);
 111         disc_single_jump_  = GET_PARAM(6);
 112     }
 113 };
 114 TEST_P(StereoMatchBP, Regression)
 115 {
 116     Mat left_image  = readImage("stereobp/aloe-L.png");
 117     Mat right_image = readImage("stereobp/aloe-R.png");
 118     Mat disp_gold   = readImage("stereobp/aloe-disp.png", IMREAD_GRAYSCALE);
 119     ocl::oclMat d_left, d_right;
 120     ocl::oclMat d_disp;
 121     Mat  disp;
 122     ASSERT_FALSE(left_image.empty());
 123     ASSERT_FALSE(right_image.empty());
 124     ASSERT_FALSE(disp_gold.empty());
 125     d_left.upload(left_image);
 126     d_right.upload(right_image);
 127     ocl::StereoBeliefPropagation bp(ndisp_, iters_, levels_, max_data_term_, data_weight_,
 128         max_disc_term_, disc_single_jump_, CV_16S);
 129     bp(d_left, d_right, d_disp);
 130     d_disp.download(disp);
 131     disp.convertTo(disp, disp_gold.depth());
 132     EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
 133 }
 134 INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBP, testing::Combine(testing::Values(64),
 135     testing::Values(8),testing::Values(2),testing::Values(25.0f),
 136     testing::Values(0.1f),testing::Values(15.0f),testing::Values(1.0f)));
 137
 138 //////////////////////////////////////////////////////////////////////////
 139 //  ConstSpaceBeliefPropagation
 140 PARAM_TEST_CASE(StereoMatchConstSpaceBP, int, int, int, int, float, float, float, float, int, int)
 141 {
 142     int ndisp_;
 143     int iters_;
 144     int levels_;
 145     int nr_plane_;
 146     float max_data_term_;
 147     float data_weight_;
 148     float max_disc_term_;
 149     float disc_single_jump_;
 150     int min_disp_th_;
 151     int msg_type_;
 152
 153     virtual void SetUp()
 154     {
 155         ndisp_          = GET_PARAM(0);
 156         iters_          = GET_PARAM(1);
 157         levels_         = GET_PARAM(2);
 158         nr_plane_ = GET_PARAM(3);
 159         max_data_term_  = GET_PARAM(4);
 160         data_weight_    = GET_PARAM(5);
 161         max_disc_term_     = GET_PARAM(6);
 162         disc_single_jump_  = GET_PARAM(7);
 163         min_disp_th_ = GET_PARAM(8);
 164         msg_type_  = GET_PARAM(9);
 165     }
 166 };
 167 TEST_P(StereoMatchConstSpaceBP, Regression)
 168 {
 169     Mat left_image  = readImage("csstereobp/aloe-L.png");
 170     Mat right_image = readImage("csstereobp/aloe-R.png");
 171     Mat disp_gold   = readImage("csstereobp/aloe-disp.png", IMREAD_GRAYSCALE);
 172
 173     ocl::oclMat d_left, d_right;
 174     ocl::oclMat d_disp;
 175
 176     Mat  disp;
 177     ASSERT_FALSE(left_image.empty());
 178     ASSERT_FALSE(right_image.empty());
 179     ASSERT_FALSE(disp_gold.empty());
 180
 181     d_left.upload(left_image);
 182     d_right.upload(right_image);
 183
 184     ocl::StereoConstantSpaceBP bp(ndisp_, iters_, levels_, nr_plane_, max_data_term_, data_weight_,
 185         max_disc_term_, disc_single_jump_, 0, CV_32F);
 186     bp(d_left, d_right, d_disp);
 187     d_disp.download(disp);
 188     disp.convertTo(disp, disp_gold.depth());
 189
 190     EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-4);
 191     //EXPECT_MAT_NEAR(disp_gold, disp, 1.0, "");
 192 }
 193 INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchConstSpaceBP, testing::Combine(testing::Values(128),
 194     testing::Values(16),testing::Values(4), testing::Values(4), testing::Values(30.0f),
 195     testing::Values(1.0f),testing::Values(160.0f),
 196     testing::Values(10.0f), testing::Values(0), testing::Values(CV_32F)));
 197 #endif // HAVE_OPENCL