opencv/modules/calib3d/perf/perf_stereosgbm.cpp

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#include "perf_precomp.hpp"

namespace cvtest
{

using std::tr1::tuple;
using std::tr1::get;
using namespace perf;
using namespace testing;
using namespace cv;

void MakeArtificialExample(RNG rng, Mat& dst_left_view, Mat& dst_view);

CV_ENUM(SGBMModes, StereoSGBM::MODE_SGBM, StereoSGBM::MODE_SGBM_3WAY, StereoSGBM::MODE_HH4);
typedef tuple<Size, int, SGBMModes> SGBMParams;
typedef TestBaseWithParam<SGBMParams> TestStereoCorresp;

PERF_TEST_P( TestStereoCorresp, SGBM, Combine(Values(Size(1280,720),Size(640,480)), Values(256,128), SGBMModes::all()) )
{
    RNG rng(0);

    SGBMParams params = GetParam();

    Size sz              = get<0>(params);
    int num_disparities  = get<1>(params);
    int mode             = get<2>(params);

    Mat src_left(sz, CV_8UC3);
    Mat src_right(sz, CV_8UC3);
    Mat dst(sz, CV_16S);

    MakeArtificialExample(rng,src_left,src_right);

    cv::setNumThreads(cv::getNumberOfCPUs());
    int wsize = 3;
    int P1 = 8*src_left.channels()*wsize*wsize;
    TEST_CYCLE()
    {
        Ptr<StereoSGBM> sgbm = StereoSGBM::create(0,num_disparities,wsize,P1,4*P1,1,63,25,0,0,mode);
        sgbm->compute(src_left,src_right,dst);
    }

    SANITY_CHECK(dst, .01, ERROR_RELATIVE);
}

void MakeArtificialExample(RNG rng, Mat& dst_left_view, Mat& dst_right_view)
{
    int w = dst_left_view.cols;
    int h = dst_left_view.rows;

    //params:
    unsigned char bg_level = (unsigned char)rng.uniform(0.0,255.0);
    unsigned char fg_level = (unsigned char)rng.uniform(0.0,255.0);
    int rect_width  = (int)rng.uniform(w/16,w/2);
    int rect_height = (int)rng.uniform(h/16,h/2);
    int rect_disparity = (int)(0.15*w);
    double sigma = 3.0;

    int rect_x_offset = (w-rect_width) /2;
    int rect_y_offset = (h-rect_height)/2;

    if(dst_left_view.channels()==3)
    {
        dst_left_view  = Scalar(Vec3b(bg_level,bg_level,bg_level));
        dst_right_view = Scalar(Vec3b(bg_level,bg_level,bg_level));
    }
    else
    {
        dst_left_view  = Scalar(bg_level);
        dst_right_view = Scalar(bg_level);
    }

    Mat dst_left_view_rect = Mat(dst_left_view, Rect(rect_x_offset,rect_y_offset,rect_width,rect_height));
    if(dst_left_view.channels()==3)
        dst_left_view_rect = Scalar(Vec3b(fg_level,fg_level,fg_level));
    else
        dst_left_view_rect = Scalar(fg_level);

    rect_x_offset-=rect_disparity;

    Mat dst_right_view_rect = Mat(dst_right_view, Rect(rect_x_offset,rect_y_offset,rect_width,rect_height));
    if(dst_right_view.channels()==3)
        dst_right_view_rect = Scalar(Vec3b(fg_level,fg_level,fg_level));
    else
        dst_right_view_rect = Scalar(fg_level);

    //add some gaussian noise:
    unsigned char *l, *r;
    for(int i=0;i<h;i++)
    {
        l = dst_left_view.ptr(i);
        r = dst_right_view.ptr(i);

        if(dst_left_view.channels()==3)
        {
            for(int j=0;j<w;j++)
            {
                l[0] = saturate_cast<unsigned char>(l[0] + rng.gaussian(sigma));
                l[1] = saturate_cast<unsigned char>(l[1] + rng.gaussian(sigma));
                l[2] = saturate_cast<unsigned char>(l[2] + rng.gaussian(sigma));
                l+=3;

                r[0] = saturate_cast<unsigned char>(r[0] + rng.gaussian(sigma));
                r[1] = saturate_cast<unsigned char>(r[1] + rng.gaussian(sigma));
                r[2] = saturate_cast<unsigned char>(r[2] + rng.gaussian(sigma));
                r+=3;
            }
        }
        else
        {
            for(int j=0;j<w;j++)
            {
                l[0] = saturate_cast<unsigned char>(l[0] + rng.gaussian(sigma));
                l++;

                r[0] = saturate_cast<unsigned char>(r[0] + rng.gaussian(sigma));
                r++;
            }
        }
    }
}

}