197 lines
6.9 KiB
C++
197 lines
6.9 KiB
C++
///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
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// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// @Authors
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// Peng Xiao, pengxiao@outlook.com
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp"
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#include <iomanip>
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using namespace cv;
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#ifdef HAVE_OPENCL
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PARAM_TEST_CASE(StereoMatchBM, int, int)
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{
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int n_disp;
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int winSize;
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virtual void SetUp()
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{
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n_disp = GET_PARAM(0);
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winSize = GET_PARAM(1);
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}
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};
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OCL_TEST_P(StereoMatchBM, Regression)
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{
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Mat left_image = readImage("gpu/stereobm/aloe-L.png", IMREAD_GRAYSCALE);
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Mat right_image = readImage("gpu/stereobm/aloe-R.png", IMREAD_GRAYSCALE);
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Mat disp_gold = readImage("gpu/stereobm/aloe-disp.png", IMREAD_GRAYSCALE);
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ocl::oclMat d_left, d_right;
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ocl::oclMat d_disp(left_image.size(), CV_8U);
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Mat disp;
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ASSERT_FALSE(left_image.empty());
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ASSERT_FALSE(right_image.empty());
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ASSERT_FALSE(disp_gold.empty());
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d_left.upload(left_image);
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d_right.upload(right_image);
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ocl::StereoBM_OCL bm(0, n_disp, winSize);
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bm(d_left, d_right, d_disp);
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d_disp.download(disp);
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EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-3);
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}
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INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128),
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testing::Values(19)));
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PARAM_TEST_CASE(StereoMatchBP, int, int, int, float, float, float, float)
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{
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int ndisp_;
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int iters_;
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int levels_;
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float max_data_term_;
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float data_weight_;
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float max_disc_term_;
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float disc_single_jump_;
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virtual void SetUp()
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{
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ndisp_ = GET_PARAM(0);
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iters_ = GET_PARAM(1);
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levels_ = GET_PARAM(2);
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max_data_term_ = GET_PARAM(3);
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data_weight_ = GET_PARAM(4);
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max_disc_term_ = GET_PARAM(5);
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disc_single_jump_ = GET_PARAM(6);
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}
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};
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OCL_TEST_P(StereoMatchBP, Regression)
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{
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Mat left_image = readImage("gpu/stereobp/aloe-L.png");
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Mat right_image = readImage("gpu/stereobp/aloe-R.png");
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Mat disp_gold = readImage("gpu/stereobp/aloe-disp.png", IMREAD_GRAYSCALE);
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ocl::oclMat d_left, d_right;
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ocl::oclMat d_disp;
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Mat disp;
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ASSERT_FALSE(left_image.empty());
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ASSERT_FALSE(right_image.empty());
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ASSERT_FALSE(disp_gold.empty());
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d_left.upload(left_image);
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d_right.upload(right_image);
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ocl::StereoBeliefPropagation bp(ndisp_, iters_, levels_, max_data_term_, data_weight_,
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max_disc_term_, disc_single_jump_, CV_16S);
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bp(d_left, d_right, d_disp);
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d_disp.download(disp);
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disp.convertTo(disp, disp_gold.depth());
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EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
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}
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INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBP, testing::Combine(testing::Values(64),
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testing::Values(8),testing::Values(2),testing::Values(25.0f),
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testing::Values(0.1f),testing::Values(15.0f),testing::Values(1.0f)));
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//////////////////////////////////////////////////////////////////////////
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// ConstSpaceBeliefPropagation
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PARAM_TEST_CASE(StereoMatchConstSpaceBP, int, int, int, int, float, float, float, float, int, int)
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{
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int ndisp_;
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int iters_;
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int levels_;
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int nr_plane_;
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float max_data_term_;
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float data_weight_;
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float max_disc_term_;
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float disc_single_jump_;
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int min_disp_th_;
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int msg_type_;
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virtual void SetUp()
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{
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ndisp_ = GET_PARAM(0);
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iters_ = GET_PARAM(1);
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levels_ = GET_PARAM(2);
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nr_plane_ = GET_PARAM(3);
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max_data_term_ = GET_PARAM(4);
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data_weight_ = GET_PARAM(5);
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max_disc_term_ = GET_PARAM(6);
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disc_single_jump_ = GET_PARAM(7);
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min_disp_th_ = GET_PARAM(8);
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msg_type_ = GET_PARAM(9);
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}
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};
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OCL_TEST_P(StereoMatchConstSpaceBP, Regression)
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{
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Mat left_image = readImage("gpu/csstereobp/aloe-L.png");
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Mat right_image = readImage("gpu/csstereobp/aloe-R.png");
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Mat disp_gold = readImage("gpu/csstereobp/aloe-disp.png", IMREAD_GRAYSCALE);
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ocl::oclMat d_left, d_right;
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ocl::oclMat d_disp;
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Mat disp;
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ASSERT_FALSE(left_image.empty());
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ASSERT_FALSE(right_image.empty());
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ASSERT_FALSE(disp_gold.empty());
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d_left.upload(left_image);
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d_right.upload(right_image);
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ocl::StereoConstantSpaceBP bp(ndisp_, iters_, levels_, nr_plane_, max_data_term_, data_weight_,
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max_disc_term_, disc_single_jump_, 0, CV_32F);
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bp(d_left, d_right, d_disp);
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d_disp.download(disp);
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disp.convertTo(disp, disp_gold.depth());
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EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-4);
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//EXPECT_MAT_NEAR(disp_gold, disp, 1.0, "");
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}
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INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchConstSpaceBP, testing::Combine(testing::Values(128),
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testing::Values(16),testing::Values(4), testing::Values(4), testing::Values(30.0f),
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testing::Values(1.0f),testing::Values(160.0f),
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testing::Values(10.0f), testing::Values(0), testing::Values(CV_32F)));
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#endif // HAVE_OPENCL
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