update thresholds and data of stereomatching test

git-svn-id: https://code.ros.org/svn/opencv/trunk@2740 73c94f0f-984f-4a5f-82bc-2d8db8d8ee08

diff --git a/opencv/tests/cv/src/astereomatching.cpp b/opencv/tests/cv/src/astereomatching.cpp
index 4383b982d1e226f095f31805e5dd53bd45fb8784..d83ae0d1557961483d0011bae484523c1ea2af19 100755 (executable)
--- a/opencv/tests/cv/src/astereomatching.cpp
+++ b/opencv/tests/cv/src/astereomatching.cpp
@@ -277,9 +277,9 @@ float dispRMS( const Mat& computedDisp, const Mat& groundTruthDisp, const Mat& m
 }
 
 /*
-  Calculate percentage of bad matching pixels.
+  Calculate fraction of bad matching pixels.
 */
-float badMatchPxlsPercentage( const Mat& computedDisp, const Mat& groundTruthDisp, const Mat& mask,
+float badMatchPxlsFraction( const Mat& computedDisp, const Mat& groundTruthDisp, const Mat& mask,
                               int badThresh = EVAL_BAD_THRESH )
 {
     checkSizeAndTypeOfDispMaps( computedDisp, groundTruthDisp );
@@ -319,13 +319,13 @@ string ERROR_PREFIXES[] = { "borderedAll",
 
 
 const string RMS_STR = "RMS";
-const string BAD_PXLS_PERCENTAGE_STR = "BadPxlsPercentage";
+const string BAD_PXLS_FRACTION_STR = "BadPxlsFraction";
 
 class CV_StereoMatchingTest : public CvTest
 {
 public:
-    CV_StereoMatchingTest( const char* testName ) :
-            CvTest( testName, "stereo-matching" ) { rmsEps = perEps = 0.01f; }
+    CV_StereoMatchingTest( const char* testName ) : CvTest( testName, "stereo-matching" )
+        { rmsEps.resize( ERROR_KINDS_COUNT, 0.01f );  fracEps.resize( ERROR_KINDS_COUNT, 1.e-6f ); }
 protected:
     // assumed that left image is a reference image
     virtual void runStereoMatchingAlgorithm( const Mat& leftImg, const Mat& rightImg,
@@ -346,8 +346,8 @@ protected:
     vector<int> dispScaleFactors;
     vector<int> dispUnknownVal;
 
-    float rmsEps;
-    float perEps;
+    vector<float> rmsEps;
+    vector<float> fracEps;
 };
 
 void CV_StereoMatchingTest::run(int)
@@ -429,7 +429,7 @@ void calcErrors( const Mat& leftImg, const Mat& rightImg,
                  const Mat& trueLeftDisp, const Mat& trueRightDisp,
                  const Mat& trueLeftUnknDispMask, const Mat& trueRightUnknDispMask,
                  const Mat& calcLeftDisp, const Mat& calcRightDisp,
-                 vector<float>& rms, vector<float>& badPxlsPercentages )
+                 vector<float>& rms, vector<float>& badPxlsFractions )
 {
     Mat texturelessMask, texturedMask;
     computeTextureBasedMasks( leftImg, &texturelessMask, &texturedMask );
@@ -455,13 +455,13 @@ void calcErrors( const Mat& leftImg, const Mat& rightImg,
     rms[4] = dispRMS( calcLeftDisp, trueLeftDisp, texturelessMask );
     rms[5] = dispRMS( calcLeftDisp, trueLeftDisp, depthDiscontMask );
 
-    badPxlsPercentages.resize(ERROR_KINDS_COUNT);
-    badPxlsPercentages[0] = badMatchPxlsPercentage( calcLeftDisp, trueLeftDisp, borderedKnownMask );
-    badPxlsPercentages[1] = badMatchPxlsPercentage( calcLeftDisp, trueLeftDisp, nonOccludedMask );
-    badPxlsPercentages[2] = badMatchPxlsPercentage( calcLeftDisp, trueLeftDisp, occludedMask );
-    badPxlsPercentages[3] = badMatchPxlsPercentage( calcLeftDisp, trueLeftDisp, texturedMask );
-    badPxlsPercentages[4] = badMatchPxlsPercentage( calcLeftDisp, trueLeftDisp, texturelessMask );
-    badPxlsPercentages[5] = badMatchPxlsPercentage( calcLeftDisp, trueLeftDisp, depthDiscontMask );
+    badPxlsFractions.resize(ERROR_KINDS_COUNT);
+    badPxlsFractions[0] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, borderedKnownMask );
+    badPxlsFractions[1] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, nonOccludedMask );
+    badPxlsFractions[2] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, occludedMask );
+    badPxlsFractions[3] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, texturedMask );
+    badPxlsFractions[4] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, texturelessMask );
+    badPxlsFractions[5] = badMatchPxlsFraction( calcLeftDisp, trueLeftDisp, depthDiscontMask );
 }
 
 int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int datasetIdx, bool isWrite,
@@ -488,9 +488,9 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int da
     }
 
     // calculate errors
-    vector<float> rmss, badPxlsPercentages;
+    vector<float> rmss, badPxlsFractions;
     calcErrors( leftImg, rightImg, trueLeftDisp, trueRightDisp, leftUnknMask, rightUnknMask,
-                leftDisp, rightDisp, rmss, badPxlsPercentages );
+                leftDisp, rightDisp, rmss, badPxlsFractions );
 
     const string& datasetName = datasetsNames[datasetIdx];
     if( isWrite )
@@ -498,8 +498,8 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int da
         fs << datasetName << "{";
         cvWriteComment( fs.fs, RMS_STR.c_str(), 0 );
         writeErrors( RMS_STR, rmss, &fs );
-        cvWriteComment( fs.fs, BAD_PXLS_PERCENTAGE_STR.c_str(), 0 );
-        writeErrors( BAD_PXLS_PERCENTAGE_STR, badPxlsPercentages, &fs );
+        cvWriteComment( fs.fs, BAD_PXLS_FRACTION_STR.c_str(), 0 );
+        writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions, &fs );
         fs << "}"; // datasetName
     }
     else // compare
@@ -507,19 +507,17 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int da
         ts->printf( CvTS::LOG, "\nquality on dataset %s\n", datasetName.c_str() );
         ts->printf( CvTS::LOG, "%s\n", RMS_STR.c_str() );
         writeErrors( RMS_STR, rmss );
-        ts->printf( CvTS::LOG, "%s\n", BAD_PXLS_PERCENTAGE_STR.c_str() );
-        writeErrors( BAD_PXLS_PERCENTAGE_STR, badPxlsPercentages );
+        ts->printf( CvTS::LOG, "%s\n", BAD_PXLS_FRACTION_STR.c_str() );
+        writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions );
 
         FileNode fn = fs.getFirstTopLevelNode()[datasetName];
-        vector<float> validRmss, validBadPxlsPercentages;
+        vector<float> validRmss, validBadPxlsFractions;
 
         readErrors( fn, RMS_STR, validRmss );
-        readErrors( fn, BAD_PXLS_PERCENTAGE_STR, validBadPxlsPercentages );
-        int tempCode = compareErrors( rmss, validRmss,
-                      vector<float>(ERROR_KINDS_COUNT, rmsEps), RMS_STR );
+        readErrors( fn, BAD_PXLS_FRACTION_STR, validBadPxlsFractions );
+        int tempCode = compareErrors( rmss, validRmss, rmsEps, RMS_STR );
         code = tempCode==CvTS::OK ? code : tempCode;
-        tempCode = compareErrors( badPxlsPercentages, validBadPxlsPercentages,
-                      vector<float>(ERROR_KINDS_COUNT, perEps), BAD_PXLS_PERCENTAGE_STR );
+        tempCode = compareErrors( badPxlsFractions, validBadPxlsFractions, fracEps, BAD_PXLS_FRACTION_STR );
         code = tempCode==CvTS::OK ? code : tempCode;
     }
     return code;
@@ -583,7 +581,7 @@ int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const
     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() );
+            ts->printf( CvTS::LOG, "bad accuracy of %s (valid=%f; calc=%f)\n", string(ERROR_PREFIXES[i]+errName).c_str(), *validIt, *calcIt );
             ok = false;
         }
     return ok ? CvTS::OK : CvTS::FAIL_BAD_ACCURACY;
@@ -594,13 +592,13 @@ int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const
 class CV_StereoBMTest : public CV_StereoMatchingTest
 {
 public:
-    CV_StereoBMTest() :
-            CV_StereoMatchingTest( "stereobm" ) { rmsEps = 2.5f; perEps = 0.1f; }
+    CV_StereoBMTest() : CV_StereoMatchingTest( "stereobm" )
+    { fill(rmsEps.begin(), rmsEps.end(), 0.001f); fill(fracEps.begin(), fracEps.end(), 0.00001f); }
 protected:
     virtual void runStereoMatchingAlgorithm( const Mat& _leftImg, const Mat& _rightImg,
                    Mat& leftDisp, Mat& rightDisp, FileStorage& paramsFS, const string& datasetName )
     {
-        int ndisp = 7;
+        int ndisp = 16;
         int winSize = 21;
         assert( !datasetName.empty() );
         if( paramsFS.isOpened() )
@@ -610,13 +608,13 @@ protected:
         }
         else
             ts->printf( CvTS::LOG, "%s was tested with default params "
-                        "(ndisp = 7, winSize = 21)\n", datasetName.c_str());
-
+                        "(ndisp = 16, winSize = 21)\n", datasetName.c_str());
+        assert( ndisp%16 == 0 );
         assert( _leftImg.type() == CV_8UC3 && _rightImg.type() == CV_8UC3 );
         Mat leftImg; cvtColor( _leftImg, leftImg, CV_BGR2GRAY );
         Mat rightImg; cvtColor( _rightImg, rightImg, CV_BGR2GRAY );
 
-        StereoBM bm( StereoBM::BASIC_PRESET, ndisp*16, winSize );
+        StereoBM bm( StereoBM::BASIC_PRESET, ndisp, winSize );
         bm( leftImg, rightImg, leftDisp, CV_32F );
     }
 };
@@ -628,8 +626,16 @@ CV_StereoBMTest stereoBM;
 class CV_StereoGCTest : public CV_StereoMatchingTest
 {
 public:
-    CV_StereoGCTest() :
-            CV_StereoMatchingTest( "stereogc" ) { rmsEps = 1.f; perEps = 0.08f; }
+    CV_StereoGCTest() : CV_StereoMatchingTest( "stereogc" )
+    {
+        fill(rmsEps.begin(), rmsEps.end(), 3.f);
+        fracEps[0] = 0.05f; // all
+        fracEps[1] = 0.05f; // noOccl
+        fracEps[2] = 0.25f; // occl
+        fracEps[3] = 0.05f; // textured
+        fracEps[4] = 0.10f; // textureless
+        fracEps[5] = 0.10f; // borderedDepthDiscont
+    }
 protected:
     virtual void runStereoMatchingAlgorithm( const Mat& _leftImg, const Mat& _rightImg,
                    Mat& leftDisp, Mat& rightDisp, FileStorage& paramsFS, const string& datasetName )

diff --git a/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_params.xml b/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_params.xml
index 740e695f9beaac6115640c77e3fc30b7c6deb9a7..699c4a5c5f277b9da1f1bc2e53ff37caf79431d5 100644 (file)
--- a/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_params.xml
+++ b/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_params.xml
@@ -2,13 +2,13 @@
 <opencv_storage>
 <params>
        <!-- numDisp and winSize -->
-       <barn2> 1 19 </barn2>\r
-       <bull> 1 39 </bull>\r
-       <cones> 4 7 </cones>
-       <poster> 3 9 </poster>\r
-       <sawtooth> 1 13 </sawtooth>\r
-       <teddy> 3 9 </teddy>
-       <tsukuba> 1 7 </tsukuba>\r
-       <venus> 2 43 </venus>
+       <barn2> 16 19 </barn2>\r
+       <bull> 16 39 </bull>\r
+       <cones> 64 7 </cones>
+       <poster> 48 9 </poster>\r
+       <sawtooth> 16 13 </sawtooth>\r
+       <teddy> 48 9 </teddy>
+       <tsukuba> 16 7 </tsukuba>\r
+       <venus> 32 43 </venus>
 </params>\r
 </opencv_storage>\r

diff --git a/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_res.xml b/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_res.xml
index ef580fbf54d2b54d47923569109bca198f15389e..f8b8884fea3798f6043a544beb17d73d8d7fc49a 100644 (file)
--- a/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_res.xml
+++ b/opencv_extra/testdata/cv/stereomatching/algorithms/stereobm_res.xml
@@ -3,122 +3,122 @@
 <stereo_matching>
   <barn2>
     <!-- RMS -->
-    <borderedAllRMS>2.9392745494842529e+00</borderedAllRMS>
-    <borderedNoOcclRMS>2.6558723449707031e+00</borderedNoOcclRMS>
-    <borderedOcclRMS>9.0826406478881836e+00</borderedOcclRMS>
-    <borderedTexturedRMS>2.7199440002441406e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>2.5953481197357178e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>5.5574588775634766e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>1.0922910273075104e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>9.1056533157825470e-02</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>9.5564126968383789e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>7.9280391335487366e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.0192274302244186e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>4.4630819559097290e-01</borderedDepthDiscontBadPxlsPercentage></barn2>
+    <borderedAllRMS>2.9697046279907227e+00</borderedAllRMS>
+    <borderedNoOcclRMS>2.6947205066680908e+00</borderedNoOcclRMS>
+    <borderedOcclRMS>9.0204029083251953e+00</borderedOcclRMS>
+    <borderedTexturedRMS>2.7905969619750977e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>2.6031212806701660e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>5.6081957817077637e+00</borderedDepthDiscontRMS>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>1.0510776191949844e-01</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>8.6825996637344360e-02</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>9.5660561323165894e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>7.7511578798294067e-02</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>9.5420710742473602e-02</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>4.3494275212287903e-01</borderedDepthDiscontBadPxlsFraction></barn2>
   <bull>
     <!-- RMS -->
-    <borderedAllRMS>3.0391242504119873e+00</borderedAllRMS>
-    <borderedNoOcclRMS>2.8795669078826904e+00</borderedNoOcclRMS>
-    <borderedOcclRMS>1.3057669639587402e+01</borderedOcclRMS>
-    <borderedTexturedRMS>3.3086073398590088e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>2.4831306934356689e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>4.3863167762756348e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>8.4752470254898071e-02</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>7.9467028379440308e-02</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>9.8732715845108032e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>8.2731522619724274e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>7.6852984726428986e-02</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>4.4987043738365173e-01</borderedDepthDiscontBadPxlsPercentage></bull>
+    <borderedAllRMS>2.6354846954345703e+00</borderedAllRMS>
+    <borderedNoOcclRMS>2.4656887054443359e+00</borderedNoOcclRMS>
+    <borderedOcclRMS>1.2444130897521973e+01</borderedOcclRMS>
+    <borderedTexturedRMS>2.7558054924011230e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>2.2060399055480957e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>4.6247014999389648e+00</borderedDepthDiscontRMS>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>9.3270637094974518e-02</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>8.8075563311576843e-02</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>9.8041474819183350e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>8.6934097111225128e-02</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>8.8989585638046265e-02</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>4.7518435120582581e-01</borderedDepthDiscontBadPxlsFraction></bull>
   <cones>
     <!-- RMS -->
-    <borderedAllRMS>1.6124671936035156e+01</borderedAllRMS>
-    <borderedNoOcclRMS>1.2502026557922363e+01</borderedNoOcclRMS>
-    <borderedOcclRMS>3.4613716125488281e+01</borderedOcclRMS>
-    <borderedTexturedRMS>1.1545760154724121e+01</borderedTexturedRMS>
-    <borderedTexturelessRMS>1.4701871871948242e+01</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>1.8458795547485352e+01</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>2.6062533259391785e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.8288080394268036e-01</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>9.6128243207931519e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.8263737857341766e-01</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.8351431190967560e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>4.1969665884971619e-01</borderedDepthDiscontBadPxlsPercentage></cones>
+    <borderedAllRMS>1.6001134872436523e+01</borderedAllRMS>
+    <borderedNoOcclRMS>1.2243816375732422e+01</borderedNoOcclRMS>
+    <borderedOcclRMS>3.4841300964355469e+01</borderedOcclRMS>
+    <borderedTexturedRMS>1.1300376892089844e+01</borderedTexturedRMS>
+    <borderedTexturelessRMS>1.4412364959716797e+01</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>1.7307678222656250e+01</borderedDepthDiscontRMS>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>2.5203987956047058e-01</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>1.7092128098011017e-01</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>9.8274689912796021e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>1.7283539474010468e-01</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>1.6594004631042480e-01</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>3.6046066880226135e-01</borderedDepthDiscontBadPxlsFraction></cones>
   <poster>
     <!-- RMS -->
-    <borderedAllRMS>3.6020145416259766e+00</borderedAllRMS>
-    <borderedNoOcclRMS>3.3747549057006836e+00</borderedNoOcclRMS>
-    <borderedOcclRMS>7.9826788902282715e+00</borderedOcclRMS>
-    <borderedTexturedRMS>2.7516682147979736e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>4.2754120826721191e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>6.0338129997253418e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>1.6449931263923645e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.3975124061107635e-01</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>9.5661699771881104e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>9.9689364433288574e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>2.1206244826316833e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>3.0151432752609253e-01</borderedDepthDiscontBadPxlsPercentage></poster>
+    <borderedAllRMS>4.6672196388244629e+00</borderedAllRMS>
+    <borderedNoOcclRMS>4.4640636444091797e+00</borderedNoOcclRMS>
+    <borderedOcclRMS>9.0088157653808594e+00</borderedOcclRMS>
+    <borderedTexturedRMS>3.4275686740875244e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>5.8899931907653809e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>4.9208250045776367e+00</borderedDepthDiscontRMS>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>2.0945931971073151e-01</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>1.8584211170673370e-01</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>9.6538126468658447e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>1.1097636073827744e-01</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>3.2097390294075012e-01</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>2.4112132191658020e-01</borderedDepthDiscontBadPxlsFraction></poster>
   <sawtooth>
     <!-- RMS -->
-    <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>1.7128115892410278e-01</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>9.7119647264480591e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.5352262556552887e-01</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>2.0106737315654755e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>2.9831713438034058e-01</borderedDepthDiscontBadPxlsPercentage></sawtooth>
+    <borderedAllRMS>5.9703788757324219e+00</borderedAllRMS>
+    <borderedNoOcclRMS>5.8280234336853027e+00</borderedNoOcclRMS>
+    <borderedOcclRMS>9.7770729064941406e+00</borderedOcclRMS>
+    <borderedTexturedRMS>5.5007767677307129e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>6.3390936851501465e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>3.4384808540344238e+00</borderedDepthDiscontRMS>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>1.8721148371696472e-01</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>1.6506642103195190e-01</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>9.7759723663330078e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>1.5190416574478149e-01</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>1.8714335560798645e-01</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>2.5391057133674622e-01</borderedDepthDiscontBadPxlsFraction></sawtooth>
   <teddy>
     <!-- RMS -->
-    <borderedAllRMS>1.4010182380676270e+01</borderedAllRMS>
-    <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>1.9725959002971649e-01</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>9.9023723602294922e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.9194893538951874e-01</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>2.0277936756610870e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>4.4740623235702515e-01</borderedDepthDiscontBadPxlsPercentage></teddy>
+    <borderedAllRMS>1.3826770782470703e+01</borderedAllRMS>
+    <borderedNoOcclRMS>1.1086133956909180e+01</borderedNoOcclRMS>
+    <borderedOcclRMS>2.9921604156494141e+01</borderedOcclRMS>
+    <borderedTexturedRMS>1.0002259254455566e+01</borderedTexturedRMS>
+    <borderedTexturelessRMS>1.2110310554504395e+01</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>1.5429952621459961e+01</borderedDepthDiscontRMS>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>2.5868907570838928e-01</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>1.8721485137939453e-01</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>9.9260163307189941e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>1.8982644379138947e-01</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>1.8450041115283966e-01</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>3.8109087944030762e-01</borderedDepthDiscontBadPxlsFraction></teddy>
   <tsukuba>
     <!-- RMS -->
-    <borderedAllRMS>2.5117847919464111e+00</borderedAllRMS>
-    <borderedNoOcclRMS>2.3997657299041748e+00</borderedNoOcclRMS>
-    <borderedOcclRMS>5.2020101547241211e+00</borderedOcclRMS>
-    <borderedTexturedRMS>2.4129407405853271e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>2.3844866752624512e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>5.1767106056213379e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>1.2156768888235092e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.0655383020639420e-01</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>6.8785870075225830e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>9.9258996546268463e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.1496396362781525e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>4.2114612460136414e-01</borderedDepthDiscontBadPxlsPercentage></tsukuba>
+    <borderedAllRMS>3.0015664100646973e+00</borderedAllRMS>
+    <borderedNoOcclRMS>2.8946506977081299e+00</borderedNoOcclRMS>
+    <borderedOcclRMS>5.7259650230407715e+00</borderedOcclRMS>
+    <borderedTexturedRMS>2.3235607147216797e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>3.4372513294219971e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>4.4766321182250977e+00</borderedDepthDiscontRMS>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>1.8038451671600342e-01</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>1.6085496544837952e-01</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>9.1699779033660889e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>9.2220596969127655e-02</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>2.3998285830020905e-01</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>3.1393453478813171e-01</borderedDepthDiscontBadPxlsFraction></tsukuba>
   <venus>
     <!-- RMS -->
-    <borderedAllRMS>3.4050817489624023e+00</borderedAllRMS>
-    <borderedNoOcclRMS>3.0841722488403320e+00</borderedNoOcclRMS>
-    <borderedOcclRMS>1.1204956054687500e+01</borderedOcclRMS>
-    <borderedTexturedRMS>3.0311031341552734e+00</borderedTexturedRMS>
-    <borderedTexturelessRMS>3.1296222209930420e+00</borderedTexturelessRMS>
-    <borderedDepthDiscontRMS>3.7195005416870117e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>1.1623481661081314e-01</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>1.0077582299709320e-01</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>9.6218025684356689e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>7.5693152844905853e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>1.2260337173938751e-01</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>3.5707512497901917e-01</borderedDepthDiscontBadPxlsPercentage></venus></stereo_matching>
+    <borderedAllRMS>3.3121912479400635e+00</borderedAllRMS>
+    <borderedNoOcclRMS>2.9800443649291992e+00</borderedNoOcclRMS>
+    <borderedOcclRMS>1.1195376396179199e+01</borderedOcclRMS>
+    <borderedTexturedRMS>3.0973603725433350e+00</borderedTexturedRMS>
+    <borderedTexturelessRMS>2.8740589618682861e+00</borderedTexturelessRMS>
+    <borderedDepthDiscontRMS>4.4652504920959473e+00</borderedDepthDiscontRMS>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>1.2740714848041534e-01</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>1.1219297349452972e-01</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>9.5995551347732544e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>8.5449673235416412e-02</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>1.3546563684940338e-01</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>4.1135340929031372e-01</borderedDepthDiscontBadPxlsFraction></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 e1c3d5ce1aaa0b8c867eb8f8cc97b59f9d3dbf61..3d88126f9b65e63d50837889dfbcc955da597b63 100644 (file)
--- a/opencv_extra/testdata/cv/stereomatching/algorithms/stereogc_res.xml
+++ b/opencv_extra/testdata/cv/stereomatching/algorithms/stereogc_res.xml
@@ -9,13 +9,13 @@
     <borderedTexturedRMS>6.4949792623519897e-01</borderedTexturedRMS>
     <borderedTexturelessRMS>7.2984039783477783e-01</borderedTexturelessRMS>
     <borderedDepthDiscontRMS>1.5314002037048340e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <borderedAllBadPxlsPercentage>3.3159919083118439e-02</borderedAllBadPxlsPercentage>
-    <borderedNoOcclBadPxlsPercentage>2.2118855267763138e-02</borderedNoOcclBadPxlsPercentage>
-    <borderedOcclBadPxlsPercentage>5.4741239547729492e-01</borderedOcclBadPxlsPercentage>
-    <borderedTexturedBadPxlsPercentage>1.1144985444843769e-02</borderedTexturedBadPxlsPercentage>
-    <borderedTexturelessBadPxlsPercentage>3.2244794070720673e-02</borderedTexturelessBadPxlsPercentage>
-    <borderedDepthDiscontBadPxlsPercentage>8.4495998919010162e-02</borderedDepthDiscontBadPxlsPercentage></barn2>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>3.3159919083118439e-02</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>2.2118855267763138e-02</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>5.4741239547729492e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>1.1144985444843769e-02</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>3.2244794070720673e-02</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>8.4495998919010162e-02</borderedDepthDiscontBadPxlsFraction></barn2>
   <bull>
     <!-- RMS -->
     <borderedAllRMS>3.7193709611892700e-01</borderedAllRMS>
@@ -24,13 +24,13 @@
     <borderedTexturedRMS>3.7875232100486755e-01</borderedTexturedRMS>
     <borderedTexturelessRMS>3.5366716980934143e-01</borderedTexturelessRMS>
     <borderedDepthDiscontRMS>9.1134232282638550e-01</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <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>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>1.4843083918094635e-02</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>1.3735874556005001e-02</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>2.0391705632209778e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>5.6590605527162552e-03</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>2.0203370600938797e-02</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>1.3673509657382965e-01</borderedDepthDiscontBadPxlsFraction></bull>
   <cones>
     <!-- RMS -->
     <borderedAllRMS>3.7660238742828369e+00</borderedAllRMS>
@@ -39,13 +39,13 @@
     <borderedTexturedRMS>2.4199159145355225e+00</borderedTexturedRMS>
     <borderedTexturelessRMS>1.7094538211822510e+00</borderedTexturelessRMS>
     <borderedDepthDiscontRMS>4.0193080902099609e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <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>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>1.7574447393417358e-01</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>1.1746797710657120e-01</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>7.0024454593658447e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>1.1467904597520828e-01</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>1.2472582608461380e-01</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>1.9106541574001312e-01</borderedDepthDiscontBadPxlsFraction></cones>
   <poster>
     <!-- RMS -->
     <borderedAllRMS>4.7536170482635498e-01</borderedAllRMS>
@@ -54,13 +54,13 @@
     <borderedTexturedRMS>3.4507933259010315e-01</borderedTexturedRMS>
     <borderedTexturelessRMS>3.2415604591369629e-01</borderedTexturelessRMS>
     <borderedDepthDiscontRMS>6.0609477758407593e-01</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <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>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>4.7329813241958618e-03</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>1.1774289887398481e-03</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>1.1853637546300888e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>1.7978340620175004e-03</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>5.7604793255450204e-05</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>8.2927709445357323e-03</borderedDepthDiscontBadPxlsFraction></poster>
   <sawtooth>
     <!-- RMS -->
     <borderedAllRMS>1.1130944490432739e+00</borderedAllRMS>
@@ -69,13 +69,13 @@
     <borderedTexturedRMS>7.7347141504287720e-01</borderedTexturedRMS>
     <borderedTexturelessRMS>9.3239223957061768e-01</borderedTexturelessRMS>
     <borderedDepthDiscontRMS>2.0422320365905762e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <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>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>1.7096081748604774e-02</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>8.9806728065013885e-03</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>3.0674543976783752e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>8.1253368407487869e-03</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>1.0415319353342056e-02</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>6.5905548632144928e-02</borderedDepthDiscontBadPxlsFraction></sawtooth>
   <teddy>
     <!-- RMS -->
     <borderedAllRMS>2.4008355140686035e+00</borderedAllRMS>
@@ -84,13 +84,13 @@
     <borderedTexturedRMS>1.3888145685195923e+00</borderedTexturedRMS>
     <borderedTexturelessRMS>2.1757719516754150e+00</borderedTexturelessRMS>
     <borderedDepthDiscontRMS>2.6008973121643066e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <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>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>2.2271350026130676e-01</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>1.7231330275535583e-01</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>7.4075204133987427e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>8.8783964514732361e-02</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>2.5913196802139282e-01</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>2.3737339675426483e-01</borderedDepthDiscontBadPxlsFraction></teddy>
   <tsukuba>
     <!-- RMS -->
     <borderedAllRMS>9.2417442798614502e-01</borderedAllRMS>
@@ -99,13 +99,13 @@
     <borderedTexturedRMS>7.6004856824874878e-01</borderedTexturedRMS>
     <borderedTexturelessRMS>7.8928935527801514e-01</borderedTexturelessRMS>
     <borderedDepthDiscontRMS>1.4721361398696899e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <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>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>3.2692484557628632e-02</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>2.3820394650101662e-02</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>3.6732891201972961e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>2.0044153556227684e-02</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>2.8173983097076416e-02</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>8.9960016310214996e-02</borderedDepthDiscontBadPxlsFraction></tsukuba>
   <venus>
     <!-- RMS -->
     <borderedAllRMS>7.1949613094329834e-01</borderedAllRMS>
@@ -114,11 +114,11 @@
     <borderedTexturedRMS>4.8223081231117249e-01</borderedTexturedRMS>
     <borderedTexturelessRMS>7.8715890645980835e-01</borderedTexturelessRMS>
     <borderedDepthDiscontRMS>1.2730351686477661e+00</borderedDepthDiscontRMS>
-    <!-- BadPxlsPercentage -->
-    <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>
+    <!-- BadPxlsFraction -->
+    <borderedAllBadPxlsFraction>4.0350809693336487e-02</borderedAllBadPxlsFraction>
+    <borderedNoOcclBadPxlsFraction>3.2882746309041977e-02</borderedNoOcclBadPxlsFraction>
+    <borderedOcclBadPxlsFraction>4.4901743531227112e-01</borderedOcclBadPxlsFraction>
+    <borderedTexturedBadPxlsFraction>1.2435927987098694e-02</borderedTexturedBadPxlsFraction>
+    <borderedTexturelessBadPxlsFraction>5.0676062703132629e-02</borderedTexturelessBadPxlsFraction>
+    <borderedDepthDiscontBadPxlsFraction>1.1578573286533356e-01</borderedDepthDiscontBadPxlsFraction></venus></stereo_matching>
 </opencv_storage>