modules/ocl/test/test_calib3d.cpp

   1 ///////////////////////////////////////////////////////////////////////////////////////
   2 //
   3 //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
   4 //
   5 //  By downloading, copying, installing or using the software you agree to this license.
   6 //  If you do not agree to this license, do not download, install,
   7 //  copy or use the software.
   8 //
   9 //
  10 //                           License Agreement
  11 //                For Open Source Computer Vision Library
  12 //
  13 // Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
  14 // Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
  15 // Third party copyrights are property of their respective owners.
  16 //
  17 // @Authors
  18 //     Peng Xiao, pengxiao@outlook.com
  19 //
  20 // Redistribution and use in source and binary forms, with or without modification,
  21 // are permitted provided that the following conditions are met:
  22 //
  23 //   * Redistribution's of source code must retain the above copyright notice,
  24 //     this list of conditions and the following disclaimer.
  25 //
  26 //   * Redistribution's in binary form must reproduce the above copyright notice,
  27 //     this list of conditions and the following disclaimer in the documentation
  28 //     and/or other oclMaterials provided with the distribution.
  29 //
  30 //   * The name of the copyright holders may not be used to endorse or promote products
  31 //     derived from this software without specific prior written permission.
  32 //
  33 // This software is provided by the copyright holders and contributors "as is" and
  34 // any express or implied warranties, including, but not limited to, the implied
  35 // warranties of merchantability and fitness for a particular purpose are disclaimed.
  36 // In no event shall the Intel Corporation or contributors be liable for any direct,
  37 // indirect, incidental, special, exemplary, or consequential damages
  38 // (including, but not limited to, procurement of substitute goods or services;
  39 // loss of use, data, or profits; or business interruption) however caused
  40 // and on any theory of liability, whether in contract, strict liability,
  41 // or tort (including negligence or otherwise) arising in any way out of
  42 // the use of this software, even if advised of the possibility of such damage.
  43 //
  44 //M*/
  45
  46 #include "test_precomp.hpp"
  47 #include <iomanip>
  48
  49 using namespace cv;
  50
  51 #ifdef HAVE_OPENCL
  52
  53 PARAM_TEST_CASE(StereoMatchBM, int, int)
  54 {
  55     int n_disp;
  56     int winSize;
  57
  58     virtual void SetUp()
  59     {
  60         n_disp  = GET_PARAM(0);
  61         winSize = GET_PARAM(1);
  62     }
  63 };
  64
  65 OCL_TEST_P(StereoMatchBM, Regression)
  66 {
  67
  68     Mat left_image  = readImage("gpu/stereobm/aloe-L.png", IMREAD_GRAYSCALE);
  69     Mat right_image = readImage("gpu/stereobm/aloe-R.png", IMREAD_GRAYSCALE);
  70     Mat disp_gold   = readImage("gpu/stereobm/aloe-disp.png", IMREAD_GRAYSCALE);
  71     ocl::oclMat d_left, d_right;
  72     ocl::oclMat d_disp(left_image.size(), CV_8U);
  73     Mat  disp;
  74
  75     ASSERT_FALSE(left_image.empty());
  76     ASSERT_FALSE(right_image.empty());
  77     ASSERT_FALSE(disp_gold.empty());
  78     d_left.upload(left_image);
  79     d_right.upload(right_image);
  80
  81     ocl::StereoBM_OCL bm(0, n_disp, winSize);
  82
  83
  84     bm(d_left, d_right, d_disp);
  85     d_disp.download(disp);
  86
  87     EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-3);
  88 }
  89
  90 INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128),
  91                                        testing::Values(19)));
  92
  93 PARAM_TEST_CASE(StereoMatchBP, int, int, int, float, float, float, float)
  94 {
  95     int ndisp_;
  96     int iters_;
  97     int levels_;
  98     float max_data_term_;
  99     float data_weight_;
 100     float max_disc_term_;
 101     float disc_single_jump_;
 102     virtual void SetUp()
 103     {
 104         ndisp_          = GET_PARAM(0);
 105         iters_          = GET_PARAM(1);
 106         levels_         = GET_PARAM(2);
 107         max_data_term_  = GET_PARAM(3);
 108         data_weight_    = GET_PARAM(4);
 109         max_disc_term_     = GET_PARAM(5);
 110         disc_single_jump_  = GET_PARAM(6);
 111     }
 112 };
 113 OCL_TEST_P(StereoMatchBP, Regression)
 114 {
 115     Mat left_image  = readImage("gpu/stereobp/aloe-L.png");
 116     Mat right_image = readImage("gpu/stereobp/aloe-R.png");
 117     Mat disp_gold   = readImage("gpu/stereobp/aloe-disp.png", IMREAD_GRAYSCALE);
 118     ocl::oclMat d_left, d_right;
 119     ocl::oclMat d_disp;
 120     Mat  disp;
 121     ASSERT_FALSE(left_image.empty());
 122     ASSERT_FALSE(right_image.empty());
 123     ASSERT_FALSE(disp_gold.empty());
 124     d_left.upload(left_image);
 125     d_right.upload(right_image);
 126     ocl::StereoBeliefPropagation bp(ndisp_, iters_, levels_, max_data_term_, data_weight_,
 127         max_disc_term_, disc_single_jump_, CV_16S);
 128     bp(d_left, d_right, d_disp);
 129     d_disp.download(disp);
 130     disp.convertTo(disp, disp_gold.depth());
 131     EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
 132 }
 133 INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBP, testing::Combine(testing::Values(64),
 134     testing::Values(8),testing::Values(2),testing::Values(25.0f),
 135     testing::Values(0.1f),testing::Values(15.0f),testing::Values(1.0f)));
 136
 137 //////////////////////////////////////////////////////////////////////////
 138 //  ConstSpaceBeliefPropagation
 139 PARAM_TEST_CASE(StereoMatchConstSpaceBP, int, int, int, int, float, float, float, float, int, int)
 140 {
 141     int ndisp_;
 142     int iters_;
 143     int levels_;
 144     int nr_plane_;
 145     float max_data_term_;
 146     float data_weight_;
 147     float max_disc_term_;
 148     float disc_single_jump_;
 149     int min_disp_th_;
 150     int msg_type_;
 151
 152     virtual void SetUp()
 153     {
 154         ndisp_          = GET_PARAM(0);
 155         iters_          = GET_PARAM(1);
 156         levels_         = GET_PARAM(2);
 157         nr_plane_ = GET_PARAM(3);
 158         max_data_term_  = GET_PARAM(4);
 159         data_weight_    = GET_PARAM(5);
 160         max_disc_term_     = GET_PARAM(6);
 161         disc_single_jump_  = GET_PARAM(7);
 162         min_disp_th_ = GET_PARAM(8);
 163         msg_type_  = GET_PARAM(9);
 164     }
 165 };
 166 OCL_TEST_P(StereoMatchConstSpaceBP, Regression)
 167 {
 168     Mat left_image  = readImage("gpu/csstereobp/aloe-L.png");
 169     Mat right_image = readImage("gpu/csstereobp/aloe-R.png");
 170     Mat disp_gold   = readImage("gpu/csstereobp/aloe-disp.png", IMREAD_GRAYSCALE);
 171
 172     ocl::oclMat d_left, d_right;
 173     ocl::oclMat d_disp;
 174
 175     Mat  disp;
 176     ASSERT_FALSE(left_image.empty());
 177     ASSERT_FALSE(right_image.empty());
 178     ASSERT_FALSE(disp_gold.empty());
 179
 180     d_left.upload(left_image);
 181     d_right.upload(right_image);
 182
 183     ocl::StereoConstantSpaceBP bp(ndisp_, iters_, levels_, nr_plane_, max_data_term_, data_weight_,
 184         max_disc_term_, disc_single_jump_, 0, CV_32F);
 185     bp(d_left, d_right, d_disp);
 186     d_disp.download(disp);
 187     disp.convertTo(disp, disp_gold.depth());
 188
 189     EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-4);
 190     //EXPECT_MAT_NEAR(disp_gold, disp, 1.0, "");
 191 }
 192 INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchConstSpaceBP, testing::Combine(testing::Values(128),
 193     testing::Values(16),testing::Values(4), testing::Values(4), testing::Values(30.0f),
 194     testing::Values(1.0f),testing::Values(160.0f),
 195     testing::Values(10.0f), testing::Values(0), testing::Values(CV_32F)));
 196 #endif // HAVE_OPENCL