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