/*M/////////////////////////////////////////////////////////////////////////////////////// // // 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) 2000-2008, Intel Corporation, all rights reserved. // Copyright (C) 2009, Willow Garage Inc., all rights reserved. // Third party copyrights are property of their respective owners. // // 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 materials 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 "test_precomp.hpp" #ifdef HAVE_CUDA using namespace cvtest; ////////////////////////////////////////////////////////////////////////// // StereoBM struct StereoBM : testing::TestWithParam { cv::gpu::DeviceInfo devInfo; virtual void SetUp() { devInfo = GetParam(); cv::gpu::setDevice(devInfo.deviceID()); } }; GPU_TEST_P(StereoBM, Regression) { cv::Mat left_image = readImage("stereobm/aloe-L.png", cv::IMREAD_GRAYSCALE); cv::Mat right_image = readImage("stereobm/aloe-R.png", cv::IMREAD_GRAYSCALE); cv::Mat disp_gold = readImage("stereobm/aloe-disp.png", cv::IMREAD_GRAYSCALE); ASSERT_FALSE(left_image.empty()); ASSERT_FALSE(right_image.empty()); ASSERT_FALSE(disp_gold.empty()); cv::gpu::StereoBM_GPU bm(0, 128, 19); cv::gpu::GpuMat disp; bm(loadMat(left_image), loadMat(right_image), disp); EXPECT_MAT_NEAR(disp_gold, disp, 0.0); } INSTANTIATE_TEST_CASE_P(GPU_Stereo, StereoBM, ALL_DEVICES); ////////////////////////////////////////////////////////////////////////// // StereoBeliefPropagation struct StereoBeliefPropagation : testing::TestWithParam { cv::gpu::DeviceInfo devInfo; virtual void SetUp() { devInfo = GetParam(); cv::gpu::setDevice(devInfo.deviceID()); } }; GPU_TEST_P(StereoBeliefPropagation, Regression) { cv::Mat left_image = readImage("stereobp/aloe-L.png"); cv::Mat right_image = readImage("stereobp/aloe-R.png"); cv::Mat disp_gold = readImage("stereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE); ASSERT_FALSE(left_image.empty()); ASSERT_FALSE(right_image.empty()); ASSERT_FALSE(disp_gold.empty()); cv::gpu::StereoBeliefPropagation bp(64, 8, 2, 25, 0.1f, 15, 1, CV_16S); cv::gpu::GpuMat disp; bp(loadMat(left_image), loadMat(right_image), disp); cv::Mat h_disp(disp); h_disp.convertTo(h_disp, disp_gold.depth()); EXPECT_MAT_NEAR(disp_gold, h_disp, 0.0); } INSTANTIATE_TEST_CASE_P(GPU_Stereo, StereoBeliefPropagation, ALL_DEVICES); ////////////////////////////////////////////////////////////////////////// // StereoConstantSpaceBP struct StereoConstantSpaceBP : testing::TestWithParam { cv::gpu::DeviceInfo devInfo; virtual void SetUp() { devInfo = GetParam(); cv::gpu::setDevice(devInfo.deviceID()); } }; GPU_TEST_P(StereoConstantSpaceBP, Regression) { cv::Mat left_image = readImage("csstereobp/aloe-L.png"); cv::Mat right_image = readImage("csstereobp/aloe-R.png"); cv::Mat disp_gold; if (supportFeature(devInfo, cv::gpu::FEATURE_SET_COMPUTE_20)) disp_gold = readImage("csstereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE); else disp_gold = readImage("csstereobp/aloe-disp_CC1X.png", cv::IMREAD_GRAYSCALE); ASSERT_FALSE(left_image.empty()); ASSERT_FALSE(right_image.empty()); ASSERT_FALSE(disp_gold.empty()); cv::gpu::StereoConstantSpaceBP csbp(128, 16, 4, 4); cv::gpu::GpuMat disp; csbp(loadMat(left_image), loadMat(right_image), disp); cv::Mat h_disp(disp); h_disp.convertTo(h_disp, disp_gold.depth()); EXPECT_MAT_NEAR(disp_gold, h_disp, 1.0); } INSTANTIATE_TEST_CASE_P(GPU_Stereo, StereoConstantSpaceBP, ALL_DEVICES); //////////////////////////////////////////////////////////////////////////////// // reprojectImageTo3D PARAM_TEST_CASE(ReprojectImageTo3D, cv::gpu::DeviceInfo, cv::Size, MatDepth, UseRoi) { cv::gpu::DeviceInfo devInfo; cv::Size size; int depth; bool useRoi; virtual void SetUp() { devInfo = GET_PARAM(0); size = GET_PARAM(1); depth = GET_PARAM(2); useRoi = GET_PARAM(3); cv::gpu::setDevice(devInfo.deviceID()); } }; GPU_TEST_P(ReprojectImageTo3D, Accuracy) { cv::Mat disp = randomMat(size, depth, 5.0, 30.0); cv::Mat Q = randomMat(cv::Size(4, 4), CV_32FC1, 0.1, 1.0); cv::gpu::GpuMat dst; cv::gpu::reprojectImageTo3D(loadMat(disp, useRoi), dst, Q, 3); cv::Mat dst_gold; cv::reprojectImageTo3D(disp, dst_gold, Q, false); EXPECT_MAT_NEAR(dst_gold, dst, 1e-5); } INSTANTIATE_TEST_CASE_P(GPU_Stereo, ReprojectImageTo3D, testing::Combine( ALL_DEVICES, DIFFERENT_SIZES, testing::Values(MatDepth(CV_8U), MatDepth(CV_16S)), WHOLE_SUBMAT)); #endif // HAVE_CUDA