opencv/modules/ocl/test/test_calib3d.cpp

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