opencv/modules/calib3d/test/opencl/test_stereobm.cpp

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#include "test_precomp.hpp"
#include "cvconfig.h"
#include "opencv2/ts/ocl_test.hpp"

#ifdef HAVE_OPENCL

namespace cvtest {
namespace ocl {

PARAM_TEST_CASE(StereoBMFixture, int, int)
{
    int n_disp;
    int winSize;
    Mat left, right, disp;
    UMat uleft, uright, udisp;

    virtual void SetUp()
    {
        n_disp  = GET_PARAM(0);
        winSize = GET_PARAM(1);

        left  = readImage("gpu/stereobm/aloe-L.png", IMREAD_GRAYSCALE);
        right = readImage("gpu/stereobm/aloe-R.png", IMREAD_GRAYSCALE);

        ASSERT_FALSE(left.empty());
        ASSERT_FALSE(right.empty());

        left.copyTo(uleft);
        right.copyTo(uright);
    }

    void Near(double eps = 0.0)
    {
        EXPECT_MAT_NEAR_RELATIVE(disp, udisp, eps);
    }
};

OCL_TEST_P(StereoBMFixture, StereoBM)
{
    Ptr<StereoBM> bm = createStereoBM( n_disp, winSize);
    bm->setPreFilterType(bm->PREFILTER_XSOBEL);
//    bm->setMinDisparity(15);

    long t1 = clock();
    OCL_OFF(bm->compute(left, right, disp));
    long t2 = clock();
    OCL_ON(bm->compute(uleft, uright, udisp));
    cv::ocl::finish();
    long t3 = clock();
    std::cout << (double)(t2-t1)/CLOCKS_PER_SEC << "     " << (double)(t3-t2)/CLOCKS_PER_SEC << std::endl;

    Mat t; absdiff(disp, udisp, t);
    for(int i = 0; i<t.rows; i++)
        for(int j = 0; j< t.cols; j++)
           if(t.at<short>(i,j) > 0)
        //   if(i== 12 && j == 44)
                printf("%d  %d  cv: %d    ocl: %d\n", i, j, disp.at<short>(i,j), udisp.getMat(ACCESS_READ).at<short>(i,j) );
/*    imshow("diff.png", t*100);
    imshow("cv.png", disp*100);
    imshow("ocl.png", udisp.getMat(ACCESS_READ)*100);
    waitKey(0);*/
    Near(1e-3);
}

OCL_INSTANTIATE_TEST_CASE_P(StereoMatcher, StereoBMFixture, testing::Combine(testing::Values(32, 64, 128),
                                       testing::Values(11, 21)));
}//ocl
}//cvtest

#endif //HAVE_OPENCL