generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add ocl::stereobp function.

Browse Source 
OpenCL StereoBeliefPropagation, ported from GPU implementation.
This commit is contained in:
peng xiao
2013-04-03 15:57:26 +08:00
parent 656594ad4f
commit ecea583afd
4 changed files with 1015 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

55
modules/ocl/test/test_calib3d.cpp
View File

@@ -15,7 +15,7 @@
// Third party copyrights are property of their respective owners.
//
// @Authors
// Peng Xiao, pengxiao@outlook.com
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
@@ -63,12 +63,12 @@ PARAM_TEST_CASE(StereoMatchBM, int, int)
}
};
TEST_P(StereoMatchBM, Accuracy)
TEST_P(StereoMatchBM, Regression)
{
Mat left_image = readImage(workdir + "../ocl/aloe-L.png", IMREAD_GRAYSCALE);
Mat right_image = readImage(workdir + "../ocl/aloe-R.png", IMREAD_GRAYSCALE);
Mat disp_gold = readImage(workdir + "../ocl/aloe-disp.png", IMREAD_GRAYSCALE);
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;
@@ -88,7 +88,50 @@ TEST_P(StereoMatchBM, Accuracy)
EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-3);
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128),
INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128),
testing::Values(19)));
PARAM_TEST_CASE(StereoMatchBP, int, int, int, float, float, float, float)
{
int ndisp_;
int iters_;
int levels_;
float max_data_term_;
float data_weight_;
float max_disc_term_;
float disc_single_jump_;
virtual void SetUp()
{
ndisp_ = GET_PARAM(0);
iters_ = GET_PARAM(1);
levels_ = GET_PARAM(2);
max_data_term_ = GET_PARAM(3);
data_weight_ = GET_PARAM(4);
max_disc_term_ = GET_PARAM(5);
disc_single_jump_ = GET_PARAM(6);
}
};
TEST_P(StereoMatchBP, Regression)
{
Mat left_image = readImage("stereobp/aloe-L.png");
Mat right_image = readImage("stereobp/aloe-R.png");
Mat disp_gold = readImage("stereobp/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::StereoBeliefPropagation bp(ndisp_, iters_, levels_, max_data_term_, data_weight_,
max_disc_term_, disc_single_jump_, CV_16S);
bp(d_left, d_right, d_disp);
d_disp.download(disp);
disp.convertTo(disp, disp_gold.depth());
EXPECT_MAT_NEAR(disp_gold, disp, 0.0, "");
}
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)));
#endif // HAVE_OPENCL