mirror of
https://github.com/opencv/opencv.git
synced 2024-12-16 10:29:11 +08:00
75 lines
2.4 KiB
C++
75 lines
2.4 KiB
C++
|
// This file is part of OpenCV project.
|
||
|
|
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||
|
|
// of this distribution and at http://opencv.org/license.html.
|
||
|
|
//
|
||
|
|
// Copyright (C) 2021 Intel Corporation
|
||
|
|
|
||
|
|
#ifndef OPENCV_GAPI_STEREO_TESTS_INL_HPP
|
||
|
|
#define OPENCV_GAPI_STEREO_TESTS_INL_HPP
|
||
|
|
|
||
|
|
|
||
|
|
#include <opencv2/gapi/stereo.hpp>
|
||
|
|
#include <opencv2/gapi/cpu/stereo.hpp>
|
||
|
|
#include "gapi_stereo_tests.hpp"
|
||
|
|
|
||
|
|
#ifdef HAVE_OPENCV_CALIB3D
|
||
|
|
|
||
|
|
#include <opencv2/calib3d.hpp>
|
||
|
|
|
||
|
|
namespace opencv_test {
|
||
|
|
|
||
|
|
TEST_P(TestGAPIStereo, DisparityDepthTest)
|
||
|
|
{
|
||
|
|
using format = cv::gapi::StereoOutputFormat;
|
||
|
|
switch(oF) {
|
||
|
|
case format::DEPTH_FLOAT16: dtype = CV_16FC1; break;
|
||
|
|
case format::DEPTH_FLOAT32: dtype = CV_32FC1; break;
|
||
|
|
case format::DISPARITY_FIXED16_12_4: dtype = CV_16SC1; break;
|
||
|
|
default: GAPI_Assert(false && "Unsupported format in test");
|
||
|
|
}
|
||
|
|
initOutMats(sz, dtype);
|
||
|
|
|
||
|
|
// G-API
|
||
|
|
cv::GMat inL, inR;
|
||
|
|
cv::GMat out = cv::gapi::stereo(inL, inR, oF);
|
||
|
|
|
||
|
|
cv::GComputation(cv::GIn(inL, inR), cv::GOut(out))
|
||
|
|
.apply(cv::gin(in_mat1, in_mat2), cv::gout(out_mat_gapi),
|
||
|
|
cv::compile_args(cv::gapi::calib3d::cpu::kernels(),
|
||
|
|
cv::gapi::calib3d::cpu::StereoInitParam {
|
||
|
|
numDisparities,
|
||
|
|
blockSize,
|
||
|
|
baseline,
|
||
|
|
focus}));
|
||
|
|
|
||
|
|
// OpenCV
|
||
|
|
cv::StereoBM::create(numDisparities, blockSize)->compute(in_mat1,
|
||
|
|
in_mat2,
|
||
|
|
out_mat_ocv);
|
||
|
|
|
||
|
|
static const int DISPARITY_SHIFT_16S = 4;
|
||
|
|
switch(oF) {
|
||
|
|
case format::DEPTH_FLOAT16:
|
||
|
|
out_mat_ocv.convertTo(out_mat_ocv, CV_32FC1, 1./(1 << DISPARITY_SHIFT_16S), 0);
|
||
|
|
out_mat_ocv = (focus * baseline) / out_mat_ocv;
|
||
|
|
out_mat_ocv.convertTo(out_mat_ocv, CV_16FC1);
|
||
|
|
break;
|
||
|
|
case format::DEPTH_FLOAT32:
|
||
|
|
out_mat_ocv.convertTo(out_mat_ocv, CV_32FC1, 1./(1 << DISPARITY_SHIFT_16S), 0);
|
||
|
|
out_mat_ocv = (focus * baseline) / out_mat_ocv;
|
||
|
|
break;
|
||
|
|
case format::DISPARITY_FIXED16_12_4:
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
GAPI_Assert(false && "Unsupported format in test");
|
||
|
|
}
|
||
|
|
|
||
|
|
EXPECT_TRUE(cmpF(out_mat_gapi, out_mat_ocv));
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace opencv_test
|
||
|
|
|
||
|
|
#endif // HAVE_OPENCV_CALIB3D
|
||
|
|
|
||
|
|
#endif // OPENCV_GAPI_STEREO_TESTS_INL_HPP
|