Revert "Merge pull request #836 from jet47:gpu-modules"

This reverts commit fba72cb60d, reversing
changes made to 02131ffb62.

modules/gpu/test/test_calib3d.cpp

@@ -46,6 +46,123 @@
 
 using namespace cvtest;
 
+//////////////////////////////////////////////////////////////////////////
+// StereoBM
+
+struct StereoBM : testing::TestWithParam<cv::gpu::DeviceInfo>
+{
+    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_Calib3D, StereoBM, ALL_DEVICES);
+
+//////////////////////////////////////////////////////////////////////////
+// StereoBeliefPropagation
+
+struct StereoBeliefPropagation : testing::TestWithParam<cv::gpu::DeviceInfo>
+{
+    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_Calib3D, StereoBeliefPropagation, ALL_DEVICES);
+
+//////////////////////////////////////////////////////////////////////////
+// StereoConstantSpaceBP
+
+struct StereoConstantSpaceBP : testing::TestWithParam<cv::gpu::DeviceInfo>
+{
+    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_Calib3D, StereoConstantSpaceBP, ALL_DEVICES);
+
 ///////////////////////////////////////////////////////////////////////////////////////////////////////
 // transformPoints
 
@@ -187,4 +304,45 @@ GPU_TEST_P(SolvePnPRansac, Accuracy)
 
 INSTANTIATE_TEST_CASE_P(GPU_Calib3D, SolvePnPRansac, 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_Calib3D, ReprojectImageTo3D, testing::Combine(
+    ALL_DEVICES,
+    DIFFERENT_SIZES,
+    testing::Values(MatDepth(CV_8U), MatDepth(CV_16S)),
+    WHOLE_SUBMAT));
+
 #endif // HAVE_CUDA