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75 lines
2.4 KiB
C++
75 lines
2.4 KiB
C++
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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//
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// Copyright (C) 2021 Intel Corporation
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#ifndef OPENCV_GAPI_STEREO_TESTS_INL_HPP
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#define OPENCV_GAPI_STEREO_TESTS_INL_HPP
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#include <opencv2/gapi/stereo.hpp>
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#include <opencv2/gapi/cpu/stereo.hpp>
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#include "gapi_stereo_tests.hpp"
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#ifdef HAVE_OPENCV_CALIB3D
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#include <opencv2/calib3d.hpp>
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namespace opencv_test {
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TEST_P(TestGAPIStereo, DisparityDepthTest)
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{
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using format = cv::gapi::StereoOutputFormat;
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switch(oF) {
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case format::DEPTH_FLOAT16: dtype = CV_16FC1; break;
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case format::DEPTH_FLOAT32: dtype = CV_32FC1; break;
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case format::DISPARITY_FIXED16_12_4: dtype = CV_16SC1; break;
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default: GAPI_Assert(false && "Unsupported format in test");
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}
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initOutMats(sz, dtype);
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// G-API
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cv::GMat inL, inR;
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cv::GMat out = cv::gapi::stereo(inL, inR, oF);
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cv::GComputation(cv::GIn(inL, inR), cv::GOut(out))
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.apply(cv::gin(in_mat1, in_mat2), cv::gout(out_mat_gapi),
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cv::compile_args(cv::gapi::calib3d::cpu::kernels(),
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cv::gapi::calib3d::cpu::StereoInitParam {
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numDisparities,
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blockSize,
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baseline,
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focus}));
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// OpenCV
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cv::StereoBM::create(numDisparities, blockSize)->compute(in_mat1,
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in_mat2,
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out_mat_ocv);
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static const int DISPARITY_SHIFT_16S = 4;
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switch(oF) {
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case format::DEPTH_FLOAT16:
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out_mat_ocv.convertTo(out_mat_ocv, CV_32FC1, 1./(1 << DISPARITY_SHIFT_16S), 0);
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out_mat_ocv = (focus * baseline) / out_mat_ocv;
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out_mat_ocv.convertTo(out_mat_ocv, CV_16FC1);
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break;
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case format::DEPTH_FLOAT32:
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out_mat_ocv.convertTo(out_mat_ocv, CV_32FC1, 1./(1 << DISPARITY_SHIFT_16S), 0);
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out_mat_ocv = (focus * baseline) / out_mat_ocv;
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break;
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case format::DISPARITY_FIXED16_12_4:
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break;
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default:
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GAPI_Assert(false && "Unsupported format in test");
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}
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EXPECT_TRUE(cmpF(out_mat_gapi, out_mat_ocv));
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}
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} // namespace opencv_test
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#endif // HAVE_OPENCV_CALIB3D
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#endif // OPENCV_GAPI_STEREO_TESTS_INL_HPP
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