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Merge pull request #2869 from dimitrisPs:QDS_getDisparity
Remove normalization in cv::stereo::QuasiDenseStereo getDisparity(). * Remove normalization in getDisparity. The function returns CV_32F disparity maps with nan values for unknown matches. * Switch to GTEST and replace license header
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| Original file line number | Diff line number | Diff line change |
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| // 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. | ||
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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) | ||
| { | ||
| int elems=0; | ||
| float error=0; | ||
| float ref_invalid=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); | ||
| if (ref_val == 0){ | ||
| ref_invalid++; | ||
| } | ||
| // 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; | ||
| } | ||
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| // 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); | ||
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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 | ||
| gt.convertTo(gt, CV_32F); | ||
| gt =gt/4; | ||
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| //test inputs | ||
| ASSERT_FALSE(image1.empty() || image2.empty() || gt.empty()) << "Issue with input data"; | ||
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| //configure disparity algorithm | ||
| cv::Size frameSize = image1.size(); | ||
| Ptr<stereo::QuasiDenseStereo> qds_matcher = stereo::QuasiDenseStereo::create(frameSize); | ||
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| //compute disparity | ||
| qds_matcher->process(image1, image2); | ||
| Mat outDisp = qds_matcher->getDisparity(); | ||
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| // 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)"; | ||
| } | ||
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| }} // namespace |