fixed stereo test

git-svn-id: https://code.ros.org/svn/opencv/trunk@2699 73c94f0f-984f-4a5f-82bc-2d8db8d8ee08

diff --git a/opencv/tests/cv/src/astereomatching.cpp b/opencv/tests/cv/src/astereomatching.cpp
index 10259ff9c42a8adbd0cd9c99ebbfe64a4cdd7c57..074562c1c0e9b1429d36ccad0444b65a42dc0f6c 100755 (executable)
--- a/opencv/tests/cv/src/astereomatching.cpp
+++ b/opencv/tests/cv/src/astereomatching.cpp
@@ -53,8 +53,8 @@ using namespace std;
 using namespace cv;
 
 const float EVAL_BAD_THRESH = 1.f;
-const int EVAL_TEXTURELESS_WIDTH = 7;
-const float EVAL_TEXTURELESS_THRESH = 2.f;
+const int EVAL_TEXTURELESS_WIDTH = 3;
+const float EVAL_TEXTURELESS_THRESH = 4.f;
 const float EVAL_DISP_THRESH = 1.f;
 const float EVAL_DISP_GAP = 2.f;
 const int EVAL_DISCONT_WIDTH = 9;
@@ -68,20 +68,21 @@ const int ERROR_KINDS_COUNT = 6;
   Calculate textureless regions of image (regions where the squared horizontal intensity gradient averaged over
   a square window of size=evalTexturelessWidth is below a threshold=evalTexturelessThresh) and textured regions.
 */
-void computeTextureBasedMasks( const Mat& img, Mat* texturelessMask, Mat* texturedMask,
+void computeTextureBasedMasks( const Mat& _img, Mat* texturelessMask, Mat* texturedMask,
              int texturelessWidth = EVAL_TEXTURELESS_WIDTH, float texturelessThresh = EVAL_TEXTURELESS_THRESH )
 {
     if( !texturelessMask && !texturedMask )
         return;
-    if( img.empty() )
+    if( _img.empty() )
         CV_Error( CV_StsBadArg, "img is empty" );
 
-    Mat dxI; Sobel( img, dxI, CV_32F, 1, 0, 3 );
-    Mat dxI2; pow( dxI / 8.f/*normalize*/, 2, dxI2 );
-    if( dxI2.channels() > 1)
+    Mat img = _img;
+    if( _img.channels() > 1)
     {
-        Mat tmp; cvtColor( dxI2, tmp, CV_BGR2GRAY ); dxI2 = tmp;
+        Mat tmp; cvtColor( _img, tmp, CV_BGR2GRAY ); img = tmp;
     }
+    Mat dxI; Sobel( img, dxI, CV_32FC1, 1, 0, 3 );
+    Mat dxI2; pow( dxI / 8.f/*normalize*/, 2, dxI2 );
     Mat avgDxI2; boxFilter( dxI2, avgDxI2, CV_32FC1, Size(texturelessWidth,texturelessWidth) );
 
     if( texturelessMask )
@@ -151,7 +152,6 @@ void computeOcclusionBasedMasks( const Mat& leftDisp, const Mat& _rightDisp,
                              const Mat& leftUnknDispMask = Mat(), const Mat& rightUnknDispMask = Mat(),
                              float dispThresh = EVAL_DISP_THRESH )
 {
-    const float dispDiff = 1.f;
     if( !occludedMask && !nonOccludedMask )
         return;
     checkDispMapsAndUnknDispMasks( leftDisp, _rightDisp, leftUnknDispMask, rightUnknDispMask );
@@ -187,7 +187,7 @@ void computeOcclusionBasedMasks( const Mat& leftDisp, const Mat& _rightDisp,
     if( nonOccludedMask )
     {
         nonOccludedMask->create(leftDisp.size(), CV_8UC1);
-        occludedMask->setTo(Scalar::all(0) );
+        nonOccludedMask->setTo(Scalar::all(0) );
     }
     for( int leftY = 0; leftY < leftDisp.rows; leftY++ )
     {
@@ -204,7 +204,7 @@ void computeOcclusionBasedMasks( const Mat& leftDisp, const Mat& _rightDisp,
                 if( !rightUnknDispMask.empty() && rightUnknDispMask.at<uchar>(rightY,rightX) )
                     continue;
                 float rightDispVal = rightDisp.at<float>(rightY, rightX);
-                if( rightDispVal > leftDispVal + dispDiff )
+                if( rightDispVal > leftDispVal + dispThresh )
                 {
                     if( occludedMask )
                         occludedMask->at<uchar>(leftY, leftX) = 255;
@@ -273,7 +273,7 @@ float dispRMS( const Mat& computedDisp, const Mat& groundTruthDisp, const Mat& m
         checkSizeAndTypeOfMask( mask, computedDisp.size() );
         pointsCount = countNonZero(mask);
     }
-    return 1.f/sqrt((float)pointsCount) * norm(computedDisp, groundTruthDisp, NORM_L2, mask);
+    return 1.f/sqrt((float)pointsCount) * (float)norm(computedDisp, groundTruthDisp, NORM_L2, mask);
 }
 
 /*
@@ -332,7 +332,6 @@ protected:
                    Mat& leftDisp, Mat& rightDisp, FileStorage& paramsFS, const string& datasetName ) = 0;
 
     int readDatasetsInfo();
-    void readDatasetRunParams( FileStorage& fs, const string datasetName ) {}
     void writeErrors( const string& errName, const vector<float>& errors, FileStorage* fs = 0 );
     void readErrors( FileNode& fn, const string& errName, vector<float>& errors );
     int compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
@@ -480,10 +479,12 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int da
     Mat leftUnknMask, rightUnknMask;
     absdiff( trueLeftDisp, Scalar(dispUnknownVal[datasetIdx]), leftUnknMask );
     leftUnknMask = leftUnknMask < numeric_limits<float>::epsilon();
+    assert(leftUnknMask.type() == CV_8UC1);
     if( !trueRightDisp.empty() )
     {
         absdiff( trueRightDisp, Scalar(dispUnknownVal[datasetIdx]), rightUnknMask );
         rightUnknMask = rightUnknMask < numeric_limits<float>::epsilon();
+        assert(leftUnknMask.type() == CV_8UC1);
     }
 
     // calculate errors
@@ -578,13 +579,14 @@ int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const
     vector<float>::const_iterator calcIt = calcErrors.begin(),
                                   validIt = validErrors.begin(),
                                   epsIt = eps.begin();
+    bool ok = true;
     for( int i = 0; i < ERROR_KINDS_COUNT; i++, ++calcIt, ++validIt, ++epsIt )
         if( fabs(*calcIt - *validIt) > *epsIt )
         {
-            ts->printf( CvTS::LOG, "bad accuracy of %s\n", string(ERROR_PREFIXES[i]+errName).c_str());
-            return CvTS::FAIL_BAD_ACCURACY;
+            ts->printf( CvTS::LOG, "bad accuracy of %s\n", string(ERROR_PREFIXES[i]+errName).c_str() );
+            ok = false;
         }
-    return CvTS::OK;
+    return ok ? CvTS::OK : CvTS::FAIL_BAD_ACCURACY;
 }
 
 //----------------------------------- StereoBM test -----------------------------------------------------

diff --git a/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_res.xml b/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_res.xml
index aaed1b1ee6bdfa6b7e923bbc6ccdd2af420b8090..ef580fbf54d2b54d47923569109bca198f15389e 100644 (file)
--- a/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_res.xml
+++ b/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_res.xml
@@ -4,121 +4,121 @@
   <barn2>
     <!-- RMS -->
     <borderedAllRMS>2.9392745494842529e+00</borderedAllRMS>
-    <borderedNoOcclRMS>2.7891962528228760e+00</borderedNoOcclRMS>
+    <borderedNoOcclRMS>2.6558723449707031e+00</borderedNoOcclRMS>
     <borderedOcclRMS>9.0826406478881836e+00</borderedOcclRMS>
-    <borderedTexturedRMS>2.6714920997619629e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>3.3159480094909668e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>5.7306551933288574e+00</borderedDepthDiscontRMS>
+    <borderedTexturedRMS>2.7199440002441406e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>2.5953481197357178e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>5.5574588775634766e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
     <borderedAllBadPxlsPercentage>1.0922910273075104e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>9.9349290132522583e-02</borderedNoOcclBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>9.1056533157825470e-02</borderedNoOcclBadPxlsPercentage>
     <borderedOcclBadPxlsPercentage>9.5564126968383789e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>9.1345988214015961e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.3939268887042999e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>4.7903308272361755e-01</borderedDepthDiscontBadPxlsPercentage></barn2>
+    <borderedTexturedBadPxlsPercentage>7.9280391335487366e-02</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>1.0192274302244186e-01</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>4.4630819559097290e-01</borderedDepthDiscontBadPxlsPercentage></barn2>
   <bull>
     <!-- RMS -->
-    <borderedAllRMS>3.0391244888305664e+00</borderedAllRMS>
-    <borderedNoOcclRMS>2.9548807144165039e+00</borderedNoOcclRMS>
+    <borderedAllRMS>3.0391242504119873e+00</borderedAllRMS>
+    <borderedNoOcclRMS>2.8795669078826904e+00</borderedNoOcclRMS>
     <borderedOcclRMS>1.3057669639587402e+01</borderedOcclRMS>
-    <borderedTexturedRMS>3.0341999530792236e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>2.5804028511047363e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>4.3863506317138672e+00</borderedDepthDiscontRMS>
+    <borderedTexturedRMS>3.3086073398590088e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>2.4831306934356689e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>4.3863167762756348e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
     <borderedAllBadPxlsPercentage>8.4752470254898071e-02</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>8.1879965960979462e-02</borderedNoOcclBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>7.9467028379440308e-02</borderedNoOcclBadPxlsPercentage>
     <borderedOcclBadPxlsPercentage>9.8732715845108032e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>7.8182123601436615e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>9.8015159368515015e-02</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>4.5368170738220215e-01</borderedDepthDiscontBadPxlsPercentage></bull>
+    <borderedTexturedBadPxlsPercentage>8.2731522619724274e-02</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>7.6852984726428986e-02</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>4.4987043738365173e-01</borderedDepthDiscontBadPxlsPercentage></bull>
   <cones>
     <!-- RMS -->
-    <borderedAllRMS>1.6124673843383789e+01</borderedAllRMS>
-    <borderedNoOcclRMS>1.4439256668090820e+01</borderedNoOcclRMS>
+    <borderedAllRMS>1.6124671936035156e+01</borderedAllRMS>
+    <borderedNoOcclRMS>1.2502026557922363e+01</borderedNoOcclRMS>
     <borderedOcclRMS>3.4613716125488281e+01</borderedOcclRMS>
-    <borderedTexturedRMS>1.4377423286437988e+01</borderedTexturedRMS>
-    <borderedTexturelessRMS>1.6886524200439453e+01</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>2.0171636581420898e+01</borderedDepthDiscontRMS>
+    <borderedTexturedRMS>1.1545760154724121e+01</borderedTexturedRMS>
+    <borderedTexturelessRMS>1.4701871871948242e+01</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>1.8458795547485352e+01</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
     <borderedAllBadPxlsPercentage>2.6062533259391785e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>2.2201843559741974e-01</borderedNoOcclBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>1.8288080394268036e-01</borderedNoOcclBadPxlsPercentage>
     <borderedOcclBadPxlsPercentage>9.6128243207931519e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>2.2269524633884430e-01</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.9289977848529816e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>4.8368534445762634e-01</borderedDepthDiscontBadPxlsPercentage></cones>
+    <borderedTexturedBadPxlsPercentage>1.8263737857341766e-01</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>1.8351431190967560e-01</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>4.1969665884971619e-01</borderedDepthDiscontBadPxlsPercentage></cones>
   <poster>
     <!-- RMS -->
     <borderedAllRMS>3.6020145416259766e+00</borderedAllRMS>
-    <borderedNoOcclRMS>3.4845609664916992e+00</borderedNoOcclRMS>
+    <borderedNoOcclRMS>3.3747549057006836e+00</borderedNoOcclRMS>
     <borderedOcclRMS>7.9826788902282715e+00</borderedOcclRMS>
-    <borderedTexturedRMS>3.2193512916564941e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>4.9817261695861816e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>6.2160286903381348e+00</borderedDepthDiscontRMS>
+    <borderedTexturedRMS>2.7516682147979736e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>4.2754120826721191e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>6.0338129997253418e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
     <borderedAllBadPxlsPercentage>1.6449931263923645e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.5159508585929871e-01</borderedNoOcclBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>1.3975124061107635e-01</borderedNoOcclBadPxlsPercentage>
     <borderedOcclBadPxlsPercentage>9.5661699771881104e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.3988247513771057e-01</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>2.3509734869003296e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>3.9724341034889221e-01</borderedDepthDiscontBadPxlsPercentage></poster>
+    <borderedTexturedBadPxlsPercentage>9.9689364433288574e-02</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>2.1206244826316833e-01</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>3.0151432752609253e-01</borderedDepthDiscontBadPxlsPercentage></poster>
   <sawtooth>
     <!-- RMS -->
-    <borderedAllRMS>5.8944001197814941e+00</borderedAllRMS>
-    <borderedNoOcclRMS>5.8160881996154785e+00</borderedNoOcclRMS>
-    <borderedOcclRMS>9.9867839813232422e+00</borderedOcclRMS>
-    <borderedTexturedRMS>5.8239169120788574e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>5.7139124870300293e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>4.2487883567810059e+00</borderedDepthDiscontRMS>
+    <borderedAllRMS>5.8943996429443359e+00</borderedAllRMS>
+    <borderedNoOcclRMS>5.7378568649291992e+00</borderedNoOcclRMS>
+    <borderedOcclRMS>9.9867849349975586e+00</borderedOcclRMS>
+    <borderedTexturedRMS>5.3858566284179688e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>6.2841501235961914e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>3.8425085544586182e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
     <borderedAllBadPxlsPercentage>1.9308239221572876e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.8180394172668457e-01</borderedNoOcclBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>1.7128115892410278e-01</borderedNoOcclBadPxlsPercentage>
     <borderedOcclBadPxlsPercentage>9.7119647264480591e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.8123684823513031e-01</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.8913538753986359e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>3.5565054416656494e-01</borderedDepthDiscontBadPxlsPercentage></sawtooth>
+    <borderedTexturedBadPxlsPercentage>1.5352262556552887e-01</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>2.0106737315654755e-01</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>2.9831713438034058e-01</borderedDepthDiscontBadPxlsPercentage></sawtooth>
   <teddy>
     <!-- RMS -->
     <borderedAllRMS>1.4010182380676270e+01</borderedAllRMS>
-    <borderedNoOcclRMS>1.2750345230102539e+01</borderedNoOcclRMS>
-    <borderedOcclRMS>2.9705610275268555e+01</borderedOcclRMS>
-    <borderedTexturedRMS>1.2518463134765625e+01</borderedTexturedRMS>
-    <borderedTexturelessRMS>1.3875877380371094e+01</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>1.7239618301391602e+01</borderedDepthDiscontRMS>
+    <borderedNoOcclRMS>1.1385601043701172e+01</borderedNoOcclRMS>
+    <borderedOcclRMS>2.9705608367919922e+01</borderedOcclRMS>
+    <borderedTexturedRMS>1.0683773040771484e+01</borderedTexturedRMS>
+    <borderedTexturelessRMS>1.2071896553039551e+01</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>1.7000143051147461e+01</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
     <borderedAllBadPxlsPercentage>2.6770639419555664e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>2.3205143213272095e-01</borderedNoOcclBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>1.9725959002971649e-01</borderedNoOcclBadPxlsPercentage>
     <borderedOcclBadPxlsPercentage>9.9023723602294922e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>2.2320504486560822e-01</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>2.7729755640029907e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>4.8490911722183228e-01</borderedDepthDiscontBadPxlsPercentage></teddy>
+    <borderedTexturedBadPxlsPercentage>1.9194893538951874e-01</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>2.0277936756610870e-01</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>4.4740623235702515e-01</borderedDepthDiscontBadPxlsPercentage></teddy>
   <tsukuba>
     <!-- RMS -->
     <borderedAllRMS>2.5117847919464111e+00</borderedAllRMS>
-    <borderedNoOcclRMS>2.4483191967010498e+00</borderedNoOcclRMS>
+    <borderedNoOcclRMS>2.3997657299041748e+00</borderedNoOcclRMS>
     <borderedOcclRMS>5.2020101547241211e+00</borderedOcclRMS>
-    <borderedTexturedRMS>2.4904835224151611e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>2.3065049648284912e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>5.1833825111389160e+00</borderedDepthDiscontRMS>
+    <borderedTexturedRMS>2.4129407405853271e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>2.3844866752624512e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>5.1767106056213379e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
     <borderedAllBadPxlsPercentage>1.2156768888235092e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.1292581260204315e-01</borderedNoOcclBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>1.0655383020639420e-01</borderedNoOcclBadPxlsPercentage>
     <borderedOcclBadPxlsPercentage>6.8785870075225830e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.0524481534957886e-01</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.3779740035533905e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>4.3717512488365173e-01</borderedDepthDiscontBadPxlsPercentage></tsukuba>
+    <borderedTexturedBadPxlsPercentage>9.9258996546268463e-02</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>1.1496396362781525e-01</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>4.2114612460136414e-01</borderedDepthDiscontBadPxlsPercentage></tsukuba>
   <venus>
     <!-- RMS -->
-    <borderedAllRMS>3.4050819873809814e+00</borderedAllRMS>
-    <borderedNoOcclRMS>3.2371592521667480e+00</borderedNoOcclRMS>
+    <borderedAllRMS>3.4050817489624023e+00</borderedAllRMS>
+    <borderedNoOcclRMS>3.0841722488403320e+00</borderedNoOcclRMS>
     <borderedOcclRMS>1.1204956054687500e+01</borderedOcclRMS>
-    <borderedTexturedRMS>3.1021447181701660e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>3.6010367870330811e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>3.8172011375427246e+00</borderedDepthDiscontRMS>
+    <borderedTexturedRMS>3.0311031341552734e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>3.1296222209930420e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>3.7195005416870117e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
     <borderedAllBadPxlsPercentage>1.1623481661081314e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.0793885588645935e-01</borderedNoOcclBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>1.0077582299709320e-01</borderedNoOcclBadPxlsPercentage>
     <borderedOcclBadPxlsPercentage>9.6218025684356689e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>9.9074363708496094e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.3370963931083679e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>3.9958250522613525e-01</borderedDepthDiscontBadPxlsPercentage></venus></stereo_matching>
+    <borderedTexturedBadPxlsPercentage>7.5693152844905853e-02</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>1.2260337173938751e-01</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>3.5707512497901917e-01</borderedDepthDiscontBadPxlsPercentage></venus></stereo_matching>
 </opencv_storage>

diff --git a/opencv_extra/testdata/cv/stereomatching/algorithms/stereogc_res.xml b/opencv_extra/testdata/cv/stereomatching/algorithms/stereogc_res.xml
index b00d56aef47445b10a2d01add2b8ec4925f107f7..e1c3d5ce1aaa0b8c867eb8f8cc97b59f9d3dbf61 100644 (file)
--- a/opencv_extra/testdata/cv/stereomatching/algorithms/stereogc_res.xml
+++ b/opencv_extra/testdata/cv/stereomatching/algorithms/stereogc_res.xml
@@ -4,121 +4,121 @@
   <barn2>
     <!-- RMS -->
     <borderedAllRMS>8.8603770732879639e-01</borderedAllRMS>
-    <borderedNoOcclRMS>7.8308063745498657e-01</borderedNoOcclRMS>
+    <borderedNoOcclRMS>6.9244784116744995e-01</borderedNoOcclRMS>
     <borderedOcclRMS>3.8752806186676025e+00</borderedOcclRMS>
-    <borderedTexturedRMS>7.2582632303237915e-01</borderedTexturedRMS>
-    <borderedTexturelessRMS>1.0224789381027222e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>1.8392300605773926e+00</borderedDepthDiscontRMS>
+    <borderedTexturedRMS>6.4949792623519897e-01</borderedTexturedRMS>
+    <borderedTexturelessRMS>7.2984039783477783e-01</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>1.5314002037048340e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
     <borderedAllBadPxlsPercentage>3.3159919083118439e-02</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>2.7169827371835709e-02</borderedNoOcclBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>2.2118855267763138e-02</borderedNoOcclBadPxlsPercentage>
     <borderedOcclBadPxlsPercentage>5.4741239547729492e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.8625134602189064e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>6.9922037422657013e-02</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>1.1224113404750824e-01</borderedDepthDiscontBadPxlsPercentage></barn2>
+    <borderedTexturedBadPxlsPercentage>1.1144985444843769e-02</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>3.2244794070720673e-02</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>8.4495998919010162e-02</borderedDepthDiscontBadPxlsPercentage></barn2>
   <bull>
     <!-- RMS -->
-    <borderedAllRMS>3.7080153822898865e-01</borderedAllRMS>
-    <borderedNoOcclRMS>3.6729887127876282e-01</borderedNoOcclRMS>
-    <borderedOcclRMS>1.0052068233489990e+00</borderedOcclRMS>
-    <borderedTexturedRMS>3.5788035392761230e-01</borderedTexturedRMS>
-    <borderedTexturelessRMS>4.0584596991539001e-01</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>9.5839411020278931e-01</borderedDepthDiscontRMS>
+    <borderedAllRMS>3.7193709611892700e-01</borderedAllRMS>
+    <borderedNoOcclRMS>3.6503484845161438e-01</borderedNoOcclRMS>
+    <borderedOcclRMS>1.0034861564636230e+00</borderedOcclRMS>
+    <borderedTexturedRMS>3.7875232100486755e-01</borderedTexturedRMS>
+    <borderedTexturelessRMS>3.5366716980934143e-01</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>9.1134232282638550e-01</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>1.3837000355124474e-02</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.3208182528614998e-02</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>2.0737327635288239e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>7.5097181834280491e-03</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>3.8072898983955383e-02</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>1.3895486295223236e-01</borderedDepthDiscontBadPxlsPercentage></bull>
+    <borderedAllBadPxlsPercentage>1.4843083918094635e-02</borderedAllBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>1.3735874556005001e-02</borderedNoOcclBadPxlsPercentage>
+    <borderedOcclBadPxlsPercentage>2.0391705632209778e-01</borderedOcclBadPxlsPercentage>
+    <borderedTexturedBadPxlsPercentage>5.6590605527162552e-03</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>2.0203370600938797e-02</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>1.3673509657382965e-01</borderedDepthDiscontBadPxlsPercentage></bull>
   <cones>
     <!-- RMS -->
-    <borderedAllRMS>3.7308437824249268e+00</borderedAllRMS>
-    <borderedNoOcclRMS>3.1105630397796631e+00</borderedNoOcclRMS>
-    <borderedOcclRMS>9.5623703002929688e+00</borderedOcclRMS>
-    <borderedTexturedRMS>3.1101467609405518e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>3.1284358501434326e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>5.4951958656311035e+00</borderedDepthDiscontRMS>
+    <borderedAllRMS>3.7660238742828369e+00</borderedAllRMS>
+    <borderedNoOcclRMS>2.2453501224517822e+00</borderedNoOcclRMS>
+    <borderedOcclRMS>9.8353624343872070e+00</borderedOcclRMS>
+    <borderedTexturedRMS>2.4199159145355225e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>1.7094538211822510e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>4.0193080902099609e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>1.7794829607009888e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.4968457818031311e-01</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>6.9263684749603271e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.4879696071147919e-01</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.8787306547164917e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>2.6704102754592896e-01</borderedDepthDiscontBadPxlsPercentage></cones>
+    <borderedAllBadPxlsPercentage>1.7574447393417358e-01</borderedAllBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>1.1746797710657120e-01</borderedNoOcclBadPxlsPercentage>
+    <borderedOcclBadPxlsPercentage>7.0024454593658447e-01</borderedOcclBadPxlsPercentage>
+    <borderedTexturedBadPxlsPercentage>1.1467904597520828e-01</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>1.2472582608461380e-01</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>1.9106541574001312e-01</borderedDepthDiscontBadPxlsPercentage></cones>
   <poster>
     <!-- RMS -->
-    <borderedAllRMS>4.7286075353622437e-01</borderedAllRMS>
-    <borderedNoOcclRMS>4.1047108173370361e-01</borderedNoOcclRMS>
-    <borderedOcclRMS>1.9339451789855957e+00</borderedOcclRMS>
-    <borderedTexturedRMS>4.2168381810188293e-01</borderedTexturedRMS>
-    <borderedTexturelessRMS>3.1932061910629272e-01</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>9.7188043594360352e-01</borderedDepthDiscontRMS>
+    <borderedAllRMS>4.7536170482635498e-01</borderedAllRMS>
+    <borderedNoOcclRMS>3.3776870369911194e-01</borderedNoOcclRMS>
+    <borderedOcclRMS>1.9511460065841675e+00</borderedOcclRMS>
+    <borderedTexturedRMS>3.4507933259010315e-01</borderedTexturedRMS>
+    <borderedTexturelessRMS>3.2415604591369629e-01</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>6.0609477758407593e-01</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>4.8060007393360138e-03</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>2.9884576797485352e-03</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>1.2160385400056839e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>3.4076399169862270e-03</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>0.</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>2.7874028310179710e-02</borderedDepthDiscontBadPxlsPercentage></poster>
+    <borderedAllBadPxlsPercentage>4.7329813241958618e-03</borderedAllBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>1.1774289887398481e-03</borderedNoOcclBadPxlsPercentage>
+    <borderedOcclBadPxlsPercentage>1.1853637546300888e-01</borderedOcclBadPxlsPercentage>
+    <borderedTexturedBadPxlsPercentage>1.7978340620175004e-03</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>5.7604793255450204e-05</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>8.2927709445357323e-03</borderedDepthDiscontBadPxlsPercentage></poster>
   <sawtooth>
     <!-- RMS -->
-    <borderedAllRMS>1.1101239919662476e+00</borderedAllRMS>
-    <borderedNoOcclRMS>9.7588479518890381e-01</borderedNoOcclRMS>
-    <borderedOcclRMS>4.5185084342956543e+00</borderedOcclRMS>
-    <borderedTexturedRMS>9.7688007354736328e-01</borderedTexturedRMS>
-    <borderedTexturelessRMS>9.6292138099670410e-01</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>2.4524936676025391e+00</borderedDepthDiscontRMS>
+    <borderedAllRMS>1.1130944490432739e+00</borderedAllRMS>
+    <borderedNoOcclRMS>8.3637070655822754e-01</borderedNoOcclRMS>
+    <borderedOcclRMS>4.5269317626953125e+00</borderedOcclRMS>
+    <borderedTexturedRMS>7.7347141504287720e-01</borderedTexturedRMS>
+    <borderedTexturelessRMS>9.3239223957061768e-01</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>2.0422320365905762e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>1.6968598589301109e-02</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.2799737975001335e-02</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>3.0354505777359009e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.2960721738636494e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.0718011297285557e-02</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>9.4535112380981445e-02</borderedDepthDiscontBadPxlsPercentage></sawtooth>
+    <borderedAllBadPxlsPercentage>1.7096081748604774e-02</borderedAllBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>8.9806728065013885e-03</borderedNoOcclBadPxlsPercentage>
+    <borderedOcclBadPxlsPercentage>3.0674543976783752e-01</borderedOcclBadPxlsPercentage>
+    <borderedTexturedBadPxlsPercentage>8.1253368407487869e-03</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>1.0415319353342056e-02</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>6.5905548632144928e-02</borderedDepthDiscontBadPxlsPercentage></sawtooth>
   <teddy>
     <!-- RMS -->
-    <borderedAllRMS>2.3585431575775146e+00</borderedAllRMS>
-    <borderedNoOcclRMS>2.1146903038024902e+00</borderedNoOcclRMS>
-    <borderedOcclRMS>5.3201212882995605e+00</borderedOcclRMS>
-    <borderedTexturedRMS>1.8850584030151367e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>3.0281293392181396e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>3.3921070098876953e+00</borderedDepthDiscontRMS>
+    <borderedAllRMS>2.4008355140686035e+00</borderedAllRMS>
+    <borderedNoOcclRMS>1.8177765607833862e+00</borderedNoOcclRMS>
+    <borderedOcclRMS>5.5778627395629883e+00</borderedOcclRMS>
+    <borderedTexturedRMS>1.3888145685195923e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>2.1757719516754150e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>2.6008973121643066e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>2.1576626598834991e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.8987368047237396e-01</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>7.4136221408843994e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.5850366652011871e-01</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>3.5032036900520325e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>2.7547970414161682e-01</borderedDepthDiscontBadPxlsPercentage></teddy>
+    <borderedAllBadPxlsPercentage>2.2271350026130676e-01</borderedAllBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>1.7231330275535583e-01</borderedNoOcclBadPxlsPercentage>
+    <borderedOcclBadPxlsPercentage>7.4075204133987427e-01</borderedOcclBadPxlsPercentage>
+    <borderedTexturedBadPxlsPercentage>8.8783964514732361e-02</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>2.5913196802139282e-01</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>2.3737339675426483e-01</borderedDepthDiscontBadPxlsPercentage></teddy>
   <tsukuba>
     <!-- RMS -->
-    <borderedAllRMS>9.0252566337585449e-01</borderedAllRMS>
-    <borderedNoOcclRMS>8.2488614320755005e-01</borderedNoOcclRMS>
-    <borderedOcclRMS>3.0998113155364990e+00</borderedOcclRMS>
-    <borderedTexturedRMS>7.9985678195953369e-01</borderedTexturedRMS>
-    <borderedTexturelessRMS>9.0117520093917847e-01</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>1.6128941774368286e+00</borderedDepthDiscontRMS>
+    <borderedAllRMS>9.2417442798614502e-01</borderedAllRMS>
+    <borderedNoOcclRMS>7.7376806735992432e-01</borderedNoOcclRMS>
+    <borderedOcclRMS>3.2382919788360596e+00</borderedOcclRMS>
+    <borderedTexturedRMS>7.6004856824874878e-01</borderedTexturedRMS>
+    <borderedTexturelessRMS>7.8928935527801514e-01</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>1.4721361398696899e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>3.1517971307039261e-02</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>2.6900326833128929e-02</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>3.2406181097030640e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>2.5436310097575188e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>3.1640913337469101e-02</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>1.0374939441680908e-01</borderedDepthDiscontBadPxlsPercentage></tsukuba>
+    <borderedAllBadPxlsPercentage>3.2692484557628632e-02</borderedAllBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>2.3820394650101662e-02</borderedNoOcclBadPxlsPercentage>
+    <borderedOcclBadPxlsPercentage>3.6732891201972961e-01</borderedOcclBadPxlsPercentage>
+    <borderedTexturedBadPxlsPercentage>2.0044153556227684e-02</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>2.8173983097076416e-02</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>8.9960016310214996e-02</borderedDepthDiscontBadPxlsPercentage></tsukuba>
   <venus>
     <!-- RMS -->
-    <borderedAllRMS>9.1059452295303345e-01</borderedAllRMS>
-    <borderedNoOcclRMS>9.1059452295303345e-01</borderedNoOcclRMS>
-    <borderedOcclRMS>2.9145858287811279e+00</borderedOcclRMS>
-    <borderedTexturedRMS>7.7305060625076294e-01</borderedTexturedRMS>
-    <borderedTexturelessRMS>1.2280260324478149e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>1.4077984094619751e+00</borderedDepthDiscontRMS>
+    <borderedAllRMS>7.1949613094329834e-01</borderedAllRMS>
+    <borderedNoOcclRMS>6.6295725107192993e-01</borderedNoOcclRMS>
+    <borderedOcclRMS>2.1897180080413818e+00</borderedOcclRMS>
+    <borderedTexturedRMS>4.8223081231117249e-01</borderedTexturedRMS>
+    <borderedTexturelessRMS>7.8715890645980835e-01</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>1.2730351686477661e+00</borderedDepthDiscontRMS>
     <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>4.2327091097831726e-02</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>4.2327091097831726e-02</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>4.4048944115638733e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>3.4803714603185654e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>6.4381949603557587e-02</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>1.5468718111515045e-01</borderedDepthDiscontBadPxlsPercentage></venus></stereo_matching>
+    <borderedAllBadPxlsPercentage>4.0350809693336487e-02</borderedAllBadPxlsPercentage>
+    <borderedNoOcclBadPxlsPercentage>3.2882746309041977e-02</borderedNoOcclBadPxlsPercentage>
+    <borderedOcclBadPxlsPercentage>4.4901743531227112e-01</borderedOcclBadPxlsPercentage>
+    <borderedTexturedBadPxlsPercentage>1.2435927987098694e-02</borderedTexturedBadPxlsPercentage>
+    <borderedTexturelessBadPxlsPercentage>5.0676062703132629e-02</borderedTexturelessBadPxlsPercentage>
+    <borderedDepthDiscontBadPxlsPercentage>1.1578573286533356e-01</borderedDepthDiscontBadPxlsPercentage></venus></stereo_matching>
 </opencv_storage>