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43 This is a regression test for stereo matching algorithms. This test gets some quality metrics
44 discribed in "A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms".
45 Daniel Scharstein, Richard Szeliski
55 const float EVAL_BAD_THRESH = 1.f;
56 const int EVAL_TEXTURELESS_WIDTH = 3;
57 const float EVAL_TEXTURELESS_THRESH = 4.f;
58 const float EVAL_DISP_THRESH = 1.f;
59 const float EVAL_DISP_GAP = 2.f;
60 const int EVAL_DISCONT_WIDTH = 9;
61 const int EVAL_IGNORE_BORDER = 10;
63 const int ERROR_KINDS_COUNT = 6;
65 //============================== quality measuring functions =================================================
68 Calculate textureless regions of image (regions where the squared horizontal intensity gradient averaged over
69 a square window of size=evalTexturelessWidth is below a threshold=evalTexturelessThresh) and textured regions.
71 void computeTextureBasedMasks( const Mat& _img, Mat* texturelessMask, Mat* texturedMask,
72 int texturelessWidth = EVAL_TEXTURELESS_WIDTH, float texturelessThresh = EVAL_TEXTURELESS_THRESH )
74 if( !texturelessMask && !texturedMask )
77 CV_Error( CV_StsBadArg, "img is empty" );
80 if( _img.channels() > 1)
82 Mat tmp; cvtColor( _img, tmp, CV_BGR2GRAY ); img = tmp;
84 Mat dxI; Sobel( img, dxI, CV_32FC1, 1, 0, 3 );
85 Mat dxI2; pow( dxI / 8.f/*normalize*/, 2, dxI2 );
86 Mat avgDxI2; boxFilter( dxI2, avgDxI2, CV_32FC1, Size(texturelessWidth,texturelessWidth) );
89 *texturelessMask = avgDxI2 < texturelessThresh;
91 *texturedMask = avgDxI2 >= texturelessThresh;
94 void checkSizeAndTypeOfDispMaps( const Mat& leftDispMap, const Mat& rightDispMap )
96 if( leftDispMap.empty() )
97 CV_Error( CV_StsBadArg, "leftDispMap is empty" );
98 if( leftDispMap.type() != CV_32FC1 )
99 CV_Error( CV_StsBadArg, "leftDispMap must have CV_32FC1 type" );
101 if( !rightDispMap.empty() )
103 if( rightDispMap.type() != CV_32FC1 )
104 CV_Error( CV_StsBadArg, "rightDispMap must have CV_32FC1 type" );
105 if( rightDispMap.cols != leftDispMap.cols || rightDispMap.rows != leftDispMap.rows )
106 CV_Error( CV_StsBadArg, "leftDispMap and rightDispMap must have the same size" );
110 void checkSizeAndTypeOfMask( const Mat& mask, Size sz )
113 CV_Error( CV_StsBadArg, "mask is empty" );
114 if( mask.type() != CV_8UC1 )
115 CV_Error( CV_StsBadArg, "mask must have CV_8UC1 type" );
116 if( mask.rows != sz.height || mask.cols != sz.width )
117 CV_Error( CV_StsBadArg, "mask has incorrect size" );
120 void checkDispMapsAndUnknDispMasks( const Mat& leftDispMap, const Mat& rightDispMap,
121 const Mat& leftUnknDispMask, const Mat& rightUnknDispMask )
123 checkSizeAndTypeOfDispMaps( leftDispMap, rightDispMap );
125 if( !leftUnknDispMask.empty() )
126 checkSizeAndTypeOfMask( leftUnknDispMask, leftDispMap.size() );
127 if( !rightUnknDispMask.empty() )
128 checkSizeAndTypeOfMask( rightUnknDispMask, rightDispMap.size() );
130 double leftMinVal = 0, rightMinVal = 0;
131 if( leftUnknDispMask.empty() )
132 minMaxLoc( leftDispMap, &leftMinVal );
134 minMaxLoc( leftDispMap, &leftMinVal, 0, 0, 0, ~leftUnknDispMask );
135 if( !rightDispMap.empty() )
137 if( rightUnknDispMask.empty() )
138 minMaxLoc( rightDispMap, &rightMinVal );
140 minMaxLoc( rightDispMap, &rightMinVal, 0, 0, 0, ~rightUnknDispMask );
142 if( leftMinVal < 0 || rightMinVal < 0)
143 CV_Error( CV_StsBadArg, "known disparity values must be positive" );
147 Calculate occluded regions of reference image (left image) (regions that are occluded in the matching image (right image),
148 i.e., where the forward-mapped disparity lands at a location with a larger (nearer) disparity) and non occluded regions.
150 void computeOcclusionBasedMasks( const Mat& leftDisp, const Mat& _rightDisp,
151 Mat* occludedMask, Mat* nonOccludedMask,
152 const Mat& leftUnknDispMask = Mat(), const Mat& rightUnknDispMask = Mat(),
153 float dispThresh = EVAL_DISP_THRESH )
155 if( !occludedMask && !nonOccludedMask )
157 checkDispMapsAndUnknDispMasks( leftDisp, _rightDisp, leftUnknDispMask, rightUnknDispMask );
160 if( _rightDisp.empty() )
162 if( !rightUnknDispMask.empty() )
163 CV_Error( CV_StsBadArg, "rightUnknDispMask must be empty if _rightDisp is empty" );
164 rightDisp.create(leftDisp.size(), CV_32FC1);
165 rightDisp.setTo(Scalar::all(0) );
166 for( int leftY = 0; leftY < leftDisp.rows; leftY++ )
168 for( int leftX = 0; leftX < leftDisp.cols; leftX++ )
170 if( !leftUnknDispMask.empty() && leftUnknDispMask.at<uchar>(leftY,leftX) )
172 float leftDispVal = leftDisp.at<float>(leftY, leftX);
173 int rightX = leftX - cvRound(leftDispVal), rightY = leftY;
175 rightDisp.at<float>(rightY,rightX) = max(rightDisp.at<float>(rightY,rightX), leftDispVal);
180 _rightDisp.copyTo(rightDisp);
184 occludedMask->create(leftDisp.size(), CV_8UC1);
185 occludedMask->setTo(Scalar::all(0) );
187 if( nonOccludedMask )
189 nonOccludedMask->create(leftDisp.size(), CV_8UC1);
190 nonOccludedMask->setTo(Scalar::all(0) );
192 for( int leftY = 0; leftY < leftDisp.rows; leftY++ )
194 for( int leftX = 0; leftX < leftDisp.cols; leftX++ )
196 if( !leftUnknDispMask.empty() && leftUnknDispMask.at<uchar>(leftY,leftX) )
198 float leftDispVal = leftDisp.at<float>(leftY, leftX);
199 int rightX = leftX - cvRound(leftDispVal), rightY = leftY;
200 if( rightX < 0 && occludedMask )
201 occludedMask->at<uchar>(leftY, leftX) = 255;
204 if( !rightUnknDispMask.empty() && rightUnknDispMask.at<uchar>(rightY,rightX) )
206 float rightDispVal = rightDisp.at<float>(rightY, rightX);
207 if( rightDispVal > leftDispVal + dispThresh )
210 occludedMask->at<uchar>(leftY, leftX) = 255;
214 if( nonOccludedMask )
215 nonOccludedMask->at<uchar>(leftY, leftX) = 255;
223 Calculate depth discontinuty regions: pixels whose neiboring disparities differ by more than
224 dispGap, dilated by window of width discontWidth.
226 void computeDepthDiscontMask( const Mat& disp, Mat& depthDiscontMask, const Mat& unknDispMask = Mat(),
227 float dispGap = EVAL_DISP_GAP, int discontWidth = EVAL_DISCONT_WIDTH )
230 CV_Error( CV_StsBadArg, "disp is empty" );
231 if( disp.type() != CV_32FC1 )
232 CV_Error( CV_StsBadArg, "disp must have CV_32FC1 type" );
233 if( !unknDispMask.empty() )
234 checkSizeAndTypeOfMask( unknDispMask, disp.size() );
236 Mat curDisp; disp.copyTo( curDisp );
237 if( !unknDispMask.empty() )
238 curDisp.setTo( Scalar(numeric_limits<float>::min()), unknDispMask );
239 Mat maxNeighbDisp; dilate( curDisp, maxNeighbDisp, Mat(3, 3, CV_8UC1, Scalar(1)) );
240 if( !unknDispMask.empty() )
241 curDisp.setTo( Scalar(numeric_limits<float>::max()), unknDispMask );
242 Mat minNeighbDisp; erode( curDisp, minNeighbDisp, Mat(3, 3, CV_8UC1, Scalar(1)) );
243 depthDiscontMask = max( (Mat)(maxNeighbDisp-disp), (Mat)(disp-minNeighbDisp) ) > dispGap;
244 if( !unknDispMask.empty() )
245 depthDiscontMask &= ~unknDispMask;
246 dilate( depthDiscontMask, depthDiscontMask, Mat(discontWidth, discontWidth, CV_8UC1, Scalar(1)) );
250 Get evaluation masks excluding a border.
252 Mat getBorderedMask( Size maskSize, int border = EVAL_IGNORE_BORDER )
254 CV_Assert( border >= 0 );
255 Mat mask(maskSize, CV_8UC1, Scalar(0));
256 int w = maskSize.width - 2*border, h = maskSize.height - 2*border;
258 mask.setTo(Scalar(0));
260 mask( Rect(Point(border,border),Size(w,h)) ).setTo(Scalar(255));
265 Calculate root-mean-squared error between the computed disparity map (computedDisp) and ground truth map (groundTruthDisp).
267 float dispRMS( const Mat& computedDisp, const Mat& groundTruthDisp, const Mat& mask )
269 checkSizeAndTypeOfDispMaps( computedDisp, groundTruthDisp );
270 int pointsCount = computedDisp.cols*computedDisp.rows;
273 checkSizeAndTypeOfMask( mask, computedDisp.size() );
274 pointsCount = countNonZero(mask);
276 return 1.f/sqrt((float)pointsCount) * (float)norm(computedDisp, groundTruthDisp, NORM_L2, mask);
280 Calculate fraction of bad matching pixels.
282 float badMatchPxlsFraction( const Mat& computedDisp, const Mat& groundTruthDisp, const Mat& mask,
283 int badThresh = EVAL_BAD_THRESH )
285 checkSizeAndTypeOfDispMaps( computedDisp, groundTruthDisp );
287 absdiff( computedDisp, groundTruthDisp, badPxlsMap );
288 badPxlsMap = badPxlsMap > badThresh;
289 int pointsCount = computedDisp.cols*computedDisp.rows;
292 checkSizeAndTypeOfMask( mask, computedDisp.size() );
293 badPxlsMap = badPxlsMap & mask;
294 pointsCount = countNonZero(mask);
296 return 1.f/pointsCount * countNonZero(badPxlsMap);
299 //===================== regression test for stereo matching algorithms ==============================
301 const string ALGORITHMS_DIR = "stereomatching/algorithms/";
302 const string DATASETS_DIR = "stereomatching/datasets/";
303 const string DATASETS_FILE = "datasets.xml";
305 const string RUN_PARAMS_FILE = "_params.xml";
306 const string RESULT_FILE = "_res.xml";
308 const string LEFT_IMG_NAME = "im2.png";
309 const string RIGHT_IMG_NAME = "im6.png";
310 const string TRUE_LEFT_DISP_NAME = "disp2.png";
311 const string TRUE_RIGHT_DISP_NAME = "disp6.png";
313 string ERROR_PREFIXES[] = { "borderedAll",
317 "borderedTextureless",
318 "borderedDepthDiscont" }; // size of ERROR_KINDS_COUNT
321 const string RMS_STR = "RMS";
322 const string BAD_PXLS_FRACTION_STR = "BadPxlsFraction";
324 class CV_StereoMatchingTest : public CvTest
327 CV_StereoMatchingTest( const char* testName ) : CvTest( testName, "stereo-matching" )
328 { rmsEps.resize( ERROR_KINDS_COUNT, 0.01f ); fracEps.resize( ERROR_KINDS_COUNT, 1.e-6f ); }
330 // assumed that left image is a reference image
331 virtual void runStereoMatchingAlgorithm( const Mat& leftImg, const Mat& rightImg,
332 Mat& leftDisp, Mat& rightDisp, int caseIdx ) = 0;
334 int readDatasetsParams( FileStorage& fs );
335 virtual int readRunParams( FileStorage& fs );
336 void writeErrors( const string& errName, const vector<float>& errors, FileStorage* fs = 0 );
337 void readErrors( FileNode& fn, const string& errName, vector<float>& errors );
338 int compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
339 const vector<float>& eps, const string& errName );
340 int processStereoMatchingResults( FileStorage& fs, int caseIdx, bool isWrite,
341 const Mat& leftImg, const Mat& rightImg,
342 const Mat& trueLeftDisp, const Mat& trueRightDisp,
343 const Mat& leftDisp, const Mat& rightDisp );
346 vector<float> rmsEps;
347 vector<float> fracEps;
354 map<string, DatasetParams> datasetsParams;
356 vector<string> caseNames;
357 vector<string> caseDatasets;
360 void CV_StereoMatchingTest::run(int)
362 string dataPath = ts->get_data_path();
363 string algorithmName = name;
364 assert( !algorithmName.empty() );
365 if( dataPath.empty() )
367 ts->printf( CvTS::LOG, "dataPath is empty" );
368 ts->set_failed_test_info( CvTS::FAIL_BAD_ARG_CHECK );
372 FileStorage datasetsFS( dataPath + DATASETS_DIR + DATASETS_FILE, FileStorage::READ );
373 int code = readDatasetsParams( datasetsFS );
374 if( code != CvTS::OK )
376 ts->set_failed_test_info( code );
379 FileStorage runParamsFS( dataPath + ALGORITHMS_DIR + algorithmName + RUN_PARAMS_FILE, FileStorage::READ );
380 code = readRunParams( runParamsFS );
381 if( code != CvTS::OK )
383 ts->set_failed_test_info( code );
387 string fullResultFilename = dataPath + ALGORITHMS_DIR + algorithmName + RESULT_FILE;
388 FileStorage resFS( fullResultFilename, FileStorage::READ );
389 bool isWrite = true; // write or compare results
390 if( resFS.isOpened() )
394 resFS.open( fullResultFilename, FileStorage::WRITE );
395 if( !resFS.isOpened() )
397 ts->printf( CvTS::LOG, "file %s can not be read or written\n", fullResultFilename.c_str() );
398 ts->set_failed_test_info( CvTS::FAIL_BAD_ARG_CHECK );
401 resFS << "stereo_matching" << "{";
404 int progress = 0, caseCount = caseNames.size();
405 for( int ci = 0; ci < caseCount; ci++)
407 progress = update_progress( progress, ci, caseCount, 0 );
409 string datasetName = caseDatasets[ci];
410 string datasetFullDirName = dataPath + DATASETS_DIR + datasetName + "/";
411 Mat leftImg = imread(datasetFullDirName + LEFT_IMG_NAME);
412 Mat rightImg = imread(datasetFullDirName + RIGHT_IMG_NAME);
413 Mat trueLeftDisp = imread(datasetFullDirName + TRUE_LEFT_DISP_NAME, 0);
414 Mat trueRightDisp = imread(datasetFullDirName + TRUE_RIGHT_DISP_NAME, 0);
416 if( leftImg.empty() || rightImg.empty() || trueLeftDisp.empty() )
418 ts->printf( CvTS::LOG, "images or left ground-truth disparities of dataset %s can not be read", datasetName.c_str() );
419 code = CvTS::FAIL_INVALID_TEST_DATA;
422 int dispScaleFactor = datasetsParams[datasetName].dispScaleFactor;
423 Mat tmp; trueLeftDisp.convertTo( tmp, CV_32FC1, 1.f/dispScaleFactor ); trueLeftDisp = tmp; tmp.release();
424 if( !trueRightDisp.empty() )
425 trueRightDisp.convertTo( tmp, CV_32FC1, 1.f/dispScaleFactor ); trueRightDisp = tmp; tmp.release();
427 Mat leftDisp, rightDisp;
428 runStereoMatchingAlgorithm( leftImg, rightImg, leftDisp, rightDisp, ci );
429 leftDisp.convertTo( tmp, CV_32FC1 ); leftDisp = tmp; tmp.release();
430 rightDisp.convertTo( tmp, CV_32FC1 ); rightDisp = tmp; tmp.release();
432 int tempCode = processStereoMatchingResults( resFS, ci, isWrite,
433 leftImg, rightImg, trueLeftDisp, trueRightDisp, leftDisp, rightDisp);
434 code = tempCode==CvTS::OK ? code : tempCode;
438 resFS << "}"; // "stereo_matching"
440 ts->set_failed_test_info( code );
443 void calcErrors( const Mat& leftImg, const Mat& rightImg,
444 const Mat& trueLeftDisp, const Mat& trueRightDisp,
445 const Mat& trueLeftUnknDispMask, const Mat& trueRightUnknDispMask,
446 const Mat& calcLeftDisp, const Mat& calcRightDisp,
447 vector<float>& rms, vector<float>& badPxlsFractions )
449 Mat texturelessMask, texturedMask;
450 computeTextureBasedMasks( leftImg, &texturelessMask, &texturedMask );
451 Mat occludedMask, nonOccludedMask;
452 computeOcclusionBasedMasks( trueLeftDisp, trueRightDisp, &occludedMask, &nonOccludedMask,
453 trueLeftUnknDispMask, trueRightUnknDispMask);
454 Mat depthDiscontMask;
455 computeDepthDiscontMask( trueLeftDisp, depthDiscontMask, trueLeftUnknDispMask);
457 Mat borderedKnownMask = getBorderedMask( leftImg.size() ) & ~trueLeftUnknDispMask;
459 nonOccludedMask &= borderedKnownMask;
460 occludedMask &= borderedKnownMask;
461 texturedMask &= nonOccludedMask; // & borderedKnownMask
462 texturelessMask &= nonOccludedMask; // & borderedKnownMask
463 depthDiscontMask &= nonOccludedMask; // & borderedKnownMask
465 rms.resize(ERROR_KINDS_COUNT);
466 rms[0] = dispRMS( calcLeftDisp, trueLeftDisp, borderedKnownMask );
467 rms[1] = dispRMS( calcLeftDisp, trueLeftDisp, nonOccludedMask );
468 rms[2] = dispRMS( calcLeftDisp, trueLeftDisp, occludedMask );
469 rms[3] = dispRMS( calcLeftDisp, trueLeftDisp, texturedMask );
470 rms[4] = dispRMS( calcLeftDisp, trueLeftDisp, texturelessMask );
471 rms[5] = dispRMS( calcLeftDisp, trueLeftDisp, depthDiscontMask );
473 badPxlsFractions.resize(ERROR_KINDS_COUNT);
474 badPxlsFractions[0] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, borderedKnownMask );
475 badPxlsFractions[1] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, nonOccludedMask );
476 badPxlsFractions[2] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, occludedMask );
477 badPxlsFractions[3] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, texturedMask );
478 badPxlsFractions[4] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, texturelessMask );
479 badPxlsFractions[5] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, depthDiscontMask );
482 int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int caseIdx, bool isWrite,
483 const Mat& leftImg, const Mat& rightImg,
484 const Mat& trueLeftDisp, const Mat& trueRightDisp,
485 const Mat& leftDisp, const Mat& rightDisp )
487 // rightDisp is not used in current test virsion
489 assert( fs.isOpened() );
490 assert( trueLeftDisp.type() == CV_32FC1 && trueRightDisp.type() == CV_32FC1 );
491 assert( leftDisp.type() == CV_32FC1 && rightDisp.type() == CV_32FC1 );
493 // get masks for unknown ground truth disparity values
494 Mat leftUnknMask, rightUnknMask;
495 DatasetParams params = datasetsParams[caseDatasets[caseIdx]];
496 absdiff( trueLeftDisp, Scalar(params.dispUnknVal), leftUnknMask );
497 leftUnknMask = leftUnknMask < numeric_limits<float>::epsilon();
498 assert(leftUnknMask.type() == CV_8UC1);
499 if( !trueRightDisp.empty() )
501 absdiff( trueRightDisp, Scalar(params.dispUnknVal), rightUnknMask );
502 rightUnknMask = rightUnknMask < numeric_limits<float>::epsilon();
503 assert(leftUnknMask.type() == CV_8UC1);
507 vector<float> rmss, badPxlsFractions;
508 calcErrors( leftImg, rightImg, trueLeftDisp, trueRightDisp, leftUnknMask, rightUnknMask,
509 leftDisp, rightDisp, rmss, badPxlsFractions );
513 fs << caseNames[caseIdx] << "{";
514 cvWriteComment( fs.fs, RMS_STR.c_str(), 0 );
515 writeErrors( RMS_STR, rmss, &fs );
516 cvWriteComment( fs.fs, BAD_PXLS_FRACTION_STR.c_str(), 0 );
517 writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions, &fs );
518 fs << "}"; // datasetName
522 ts->printf( CvTS::LOG, "\nquality of case named %s\n", caseNames[caseIdx].c_str() );
523 ts->printf( CvTS::LOG, "%s\n", RMS_STR.c_str() );
524 writeErrors( RMS_STR, rmss );
525 ts->printf( CvTS::LOG, "%s\n", BAD_PXLS_FRACTION_STR.c_str() );
526 writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions );
528 FileNode fn = fs.getFirstTopLevelNode()[caseNames[caseIdx]];
529 vector<float> validRmss, validBadPxlsFractions;
531 readErrors( fn, RMS_STR, validRmss );
532 readErrors( fn, BAD_PXLS_FRACTION_STR, validBadPxlsFractions );
533 int tempCode = compareErrors( rmss, validRmss, rmsEps, RMS_STR );
534 code = tempCode==CvTS::OK ? code : tempCode;
535 tempCode = compareErrors( badPxlsFractions, validBadPxlsFractions, fracEps, BAD_PXLS_FRACTION_STR );
536 code = tempCode==CvTS::OK ? code : tempCode;
541 int CV_StereoMatchingTest::readDatasetsParams( FileStorage& fs )
545 ts->printf( CvTS::LOG, "datasetsParams can not be read " );
546 return CvTS::FAIL_INVALID_TEST_DATA;
548 datasetsParams.clear();
549 FileNode fn = fs.getFirstTopLevelNode();
551 for( int i = 0; i < (int)fn.size(); i+=3 )
554 DatasetParams params;
555 string sf = fn[i+1]; params.dispScaleFactor = atoi(sf.c_str());
556 string uv = fn[i+2]; params.dispUnknVal = atoi(uv.c_str());
557 datasetsParams[name] = params;
562 int CV_StereoMatchingTest::readRunParams( FileStorage& fs )
566 ts->printf( CvTS::LOG, "runParams can not be read " );
567 return CvTS::FAIL_INVALID_TEST_DATA;
570 caseDatasets.clear();
574 void CV_StereoMatchingTest::writeErrors( const string& errName, const vector<float>& errors, FileStorage* fs )
576 assert( (int)errors.size() == ERROR_KINDS_COUNT );
577 vector<float>::const_iterator it = errors.begin();
579 for( int i = 0; i < ERROR_KINDS_COUNT; i++, ++it )
580 *fs << ERROR_PREFIXES[i] + errName << *it;
582 for( int i = 0; i < ERROR_KINDS_COUNT; i++, ++it )
583 ts->printf( CvTS::LOG, "%s = %f\n", string(ERROR_PREFIXES[i]+errName).c_str(), *it );
586 void CV_StereoMatchingTest::readErrors( FileNode& fn, const string& errName, vector<float>& errors )
588 errors.resize( ERROR_KINDS_COUNT );
589 vector<float>::iterator it = errors.begin();
590 for( int i = 0; i < ERROR_KINDS_COUNT; i++, ++it )
591 fn[ERROR_PREFIXES[i]+errName] >> *it;
594 int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
595 const vector<float>& eps, const string& errName )
597 assert( (int)calcErrors.size() == ERROR_KINDS_COUNT );
598 assert( (int)validErrors.size() == ERROR_KINDS_COUNT );
599 assert( (int)eps.size() == ERROR_KINDS_COUNT );
600 vector<float>::const_iterator calcIt = calcErrors.begin(),
601 validIt = validErrors.begin(),
604 for( int i = 0; i < ERROR_KINDS_COUNT; i++, ++calcIt, ++validIt, ++epsIt )
605 if( fabs(*calcIt - *validIt) > *epsIt )
607 ts->printf( CvTS::LOG, "bad accuracy of %s (valid=%f; calc=%f)\n", string(ERROR_PREFIXES[i]+errName).c_str(), *validIt, *calcIt );
610 return ok ? CvTS::OK : CvTS::FAIL_BAD_ACCURACY;
613 //----------------------------------- StereoBM test -----------------------------------------------------
615 class CV_StereoBMTest : public CV_StereoMatchingTest
618 CV_StereoBMTest() : CV_StereoMatchingTest( "stereobm" )
619 { fill(rmsEps.begin(), rmsEps.end(), 0.4f); fill(fracEps.begin(), fracEps.end(), 0.02f); }
627 vector<RunParams> caseRunParams;
629 virtual int readRunParams( FileStorage& fs )
631 int code = CV_StereoMatchingTest::readRunParams( fs );
632 FileNode fn = fs.getFirstTopLevelNode();
634 for( int i = 0; i < (int)fn.size(); i+=4 )
636 string caseName = fn[i], datasetName = fn[i+1];
638 string ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
639 string winSize = fn[i+3]; params.winSize = atoi(winSize.c_str());
640 caseNames.push_back( caseName );
641 caseDatasets.push_back( datasetName );
642 caseRunParams.push_back( params );
647 virtual void runStereoMatchingAlgorithm( const Mat& _leftImg, const Mat& _rightImg,
648 Mat& leftDisp, Mat& rightDisp, int caseIdx )
650 RunParams params = caseRunParams[caseIdx];
651 assert( params.ndisp%16 == 0 );
652 assert( _leftImg.type() == CV_8UC3 && _rightImg.type() == CV_8UC3 );
653 Mat leftImg; cvtColor( _leftImg, leftImg, CV_BGR2GRAY );
654 Mat rightImg; cvtColor( _rightImg, rightImg, CV_BGR2GRAY );
656 StereoBM bm( StereoBM::BASIC_PRESET, params.ndisp, params.winSize );
657 bm( leftImg, rightImg, leftDisp, CV_32F );
661 CV_StereoBMTest stereoBM;
663 //----------------------------------- StereoGC test -----------------------------------------------------
665 class CV_StereoGCTest : public CV_StereoMatchingTest
668 CV_StereoGCTest() : CV_StereoMatchingTest( "stereogc" )
670 fill(rmsEps.begin(), rmsEps.end(), 3.f);
671 fracEps[0] = 0.05f; // all
672 fracEps[1] = 0.05f; // noOccl
673 fracEps[2] = 0.25f; // occl
674 fracEps[3] = 0.05f; // textured
675 fracEps[4] = 0.10f; // textureless
676 fracEps[5] = 0.10f; // borderedDepthDiscont
684 vector<RunParams> caseRunParams;
686 virtual int readRunParams( FileStorage& fs )
688 int code = CV_StereoMatchingTest::readRunParams(fs);
689 FileNode fn = fs.getFirstTopLevelNode();
691 for( int i = 0; i < (int)fn.size(); i+=4 )
693 string caseName = fn[i], datasetName = fn[i+1];
695 string ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
696 string iterCount = fn[i+3]; params.iterCount = atoi(iterCount.c_str());
697 caseNames.push_back( caseName );
698 caseDatasets.push_back( datasetName );
699 caseRunParams.push_back( params );
704 virtual void runStereoMatchingAlgorithm( const Mat& _leftImg, const Mat& _rightImg,
705 Mat& leftDisp, Mat& rightDisp, int caseIdx )
707 RunParams params = caseRunParams[caseIdx];
708 assert( _leftImg.type() == CV_8UC3 && _rightImg.type() == CV_8UC3 );
709 Mat leftImg, rightImg, tmp;
710 cvtColor( _leftImg, leftImg, CV_BGR2GRAY );
711 cvtColor( _rightImg, rightImg, CV_BGR2GRAY );
713 leftDisp.create( leftImg.size(), CV_16SC1 );
714 rightDisp.create( rightImg.size(), CV_16SC1 );
716 CvMat _limg = leftImg, _rimg = rightImg, _ldisp = leftDisp, _rdisp = rightDisp;
717 CvStereoGCState *state = cvCreateStereoGCState( params.ndisp, params.iterCount );
718 cvFindStereoCorrespondenceGC( &_limg, &_rimg, &_ldisp, &_rdisp, state );
719 cvReleaseStereoGCState( &state );
721 leftDisp = - leftDisp;
726 CV_StereoGCTest stereoGC;
728 //----------------------------------- StereoSGBM test -----------------------------------------------------
730 class CV_StereoSGBMTest : public CV_StereoMatchingTest
733 CV_StereoSGBMTest() : CV_StereoMatchingTest( "stereosgbm" )
734 { fill(rmsEps.begin(), rmsEps.end(), 0.25f); fill(fracEps.begin(), fracEps.end(), 0.01f); }
743 vector<RunParams> caseRunParams;
745 virtual int readRunParams( FileStorage& fs )
747 int code = CV_StereoMatchingTest::readRunParams(fs);
748 FileNode fn = fs.getFirstTopLevelNode();
750 for( int i = 0; i < (int)fn.size(); i+=5 )
752 string caseName = fn[i], datasetName = fn[i+1];
754 string ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
755 string winSize = fn[i+3]; params.winSize = atoi(winSize.c_str());
756 string fullDP = fn[i+4]; params.fullDP = atoi(fullDP.c_str()) == 0 ? false : true;
757 caseNames.push_back( caseName );
758 caseDatasets.push_back( datasetName );
759 caseRunParams.push_back( params );
764 virtual void runStereoMatchingAlgorithm( const Mat& leftImg, const Mat& rightImg,
765 Mat& leftDisp, Mat& rightDisp, int caseIdx )
767 RunParams params = caseRunParams[caseIdx];
768 assert( params.ndisp%16 == 0 );
769 StereoSGBM sgbm( 0, params.ndisp, params.winSize, 6*params.winSize*params.winSize, 15*params.winSize*params.winSize,
770 1, 63, 10, 100, 32, params.fullDP );
771 sgbm( leftImg, rightImg, leftDisp );
772 assert( leftDisp.type() == CV_16SC1 );
777 CV_StereoSGBMTest stereoSGBM;