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Add OpenCL stereo CSBP implementation

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This commit is contained in:
Peng Xiao
2013-04-20 00:34:37 +08:00
parent a9a269505c
commit 7b08d5ec69
4 changed files with 2033 additions and 8 deletions
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76
modules/ocl/test/test_calib3d.cpp
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@@ -59,7 +59,7 @@ PARAM_TEST_CASE(StereoMatchBM, int, int)
virtual void SetUp()
{
n_disp = GET_PARAM(0);
winSize = GET_PARAM(1);
winSize = GET_PARAM(1);
}
};
@@ -69,27 +69,27 @@ TEST_P(StereoMatchBM, Regression)
Mat left_image = readImage("stereobm/aloe-L.png", IMREAD_GRAYSCALE);
Mat right_image = readImage("stereobm/aloe-R.png", IMREAD_GRAYSCALE);
Mat disp_gold = readImage("stereobm/aloe-disp.png", IMREAD_GRAYSCALE);
ocl::oclMat d_left, d_right;
ocl::oclMat d_disp(left_image.size(), CV_8U);
Mat disp;
ocl::oclMat d_left, d_right;
ocl::oclMat d_disp(left_image.size(), CV_8U);
Mat disp;
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
d_left.upload(left_image);
d_right.upload(right_image);
d_left.upload(left_image);
d_right.upload(right_image);
ocl::StereoBM_OCL bm(0, n_disp, winSize);
bm(d_left, d_right, d_disp);
d_disp.download(disp);
d_disp.download(disp);
EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-3);
}
INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128),
testing::Values(19)));
testing::Values(19)));
PARAM_TEST_CASE(StereoMatchBP, int, int, int, float, float, float, float)
{
@@ -134,4 +134,64 @@ TEST_P(StereoMatchBP, Regression)
INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBP, testing::Combine(testing::Values(64),
testing::Values(8),testing::Values(2),testing::Values(25.0f),
testing::Values(0.1f),testing::Values(15.0f),testing::Values(1.0f)));
//////////////////////////////////////////////////////////////////////////
// ConstSpaceBeliefPropagation
PARAM_TEST_CASE(StereoMatchConstSpaceBP, int, int, int, int, float, float, float, float, int, int)
{
int ndisp_;
int iters_;
int levels_;
int nr_plane_;
float max_data_term_;
float data_weight_;
float max_disc_term_;
float disc_single_jump_;
int min_disp_th_;
int msg_type_;
virtual void SetUp()
{
ndisp_ = GET_PARAM(0);
iters_ = GET_PARAM(1);
levels_ = GET_PARAM(2);
nr_plane_ = GET_PARAM(3);
max_data_term_ = GET_PARAM(4);
data_weight_ = GET_PARAM(5);
max_disc_term_ = GET_PARAM(6);
disc_single_jump_ = GET_PARAM(7);
min_disp_th_ = GET_PARAM(8);
msg_type_ = GET_PARAM(9);
}
};
TEST_P(StereoMatchConstSpaceBP, Regression)
{
Mat left_image = readImage("csstereobp/aloe-L.png");
Mat right_image = readImage("csstereobp/aloe-R.png");
Mat disp_gold = readImage("csstereobp/aloe-disp.png", IMREAD_GRAYSCALE);
ocl::oclMat d_left, d_right;
ocl::oclMat d_disp;
Mat disp;
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
d_left.upload(left_image);
d_right.upload(right_image);
ocl::StereoConstantSpaceBP bp(ndisp_, iters_, levels_, nr_plane_, max_data_term_, data_weight_,
max_disc_term_, disc_single_jump_, 0, CV_32F);
bp(d_left, d_right, d_disp);
d_disp.download(disp);
disp.convertTo(disp, disp_gold.depth());
EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-4);
//EXPECT_MAT_NEAR(disp_gold, disp, 1.0, "");
}
INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchConstSpaceBP, testing::Combine(testing::Values(128),
testing::Values(16),testing::Values(4), testing::Values(4), testing::Values(30.0f),
testing::Values(1.0f),testing::Values(160.0f),
testing::Values(10.0f), testing::Values(0), testing::Values(CV_32F)));
#endif // HAVE_OPENCL