vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

modules/xstereo/test/test_qds_matching.cpp

@@ -0,0 +1,65 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+
+#include "test_precomp.hpp"
+
+namespace opencv_test { namespace {
+
+
+static float disparity_MAE(const Mat &reference, const Mat &estimation)
+{
+    int elems=0;
+    float error=0;
+    for (int row=0; row< reference.rows; row++){
+        for (int col=0; col<reference.cols; col++){
+            float ref_val = reference.at<float>(row, col);
+            float estimated_val = estimation.at<float>(row, col);
+            // filter out pixels with unknown reference value and pixels whose disparity did not get estimated.
+            if (estimated_val == 0 || ref_val == 0 || std::isnan(estimated_val)){
+                continue;
+            }
+            else{
+                error+=abs(ref_val - estimated_val);
+                elems+=1;
+            }
+        }
+    }
+    return error/elems;
+}
+
+
+// void CV_QdsMatchingTest::run(int)
+TEST(qds_getDisparity, accuracy)
+{
+    //load data
+    Mat image1, image2, gt;
+    image1 = imread(cvtest::TS::ptr()->get_data_path() + "stereomatching/datasets/cones/im2.png", IMREAD_GRAYSCALE);
+    image2 = imread(cvtest::TS::ptr()->get_data_path() + "stereomatching/datasets/cones/im6.png", IMREAD_GRAYSCALE);
+    gt = imread(cvtest::TS::ptr()->get_data_path() + "stereomatching/datasets/cones/disp2.png", IMREAD_GRAYSCALE);
+
+    // reference scale factor is based on this https://github.com/opencv/opencv_extra/blob/master/testdata/cv/stereomatching/datasets/datasets.xml
+    gt.convertTo(gt, CV_32F);
+    gt =gt/4;
+
+    //test inputs
+    ASSERT_FALSE(image1.empty() || image2.empty() || gt.empty()) << "Issue with input data";
+
+    //configure disparity algorithm
+    cv::Size frameSize = image1.size();
+    Ptr<stereo::QuasiDenseStereo> qds_matcher = stereo::QuasiDenseStereo::create(frameSize);
+
+
+    //compute disparity
+    qds_matcher->process(image1, image2);
+    Mat outDisp = qds_matcher->getDisparity();
+
+    // test input output size consistency
+    ASSERT_EQ(gt.size(), outDisp.size()) << "Mismatch input/output dimensions";
+    ASSERT_LT(disparity_MAE(gt, outDisp),2) << "EPE should be 1.1053 for this sample/hyperparamters (Tested on version 4.5.1)";
+}
+
+
+
+}} // namespace