Merge pull request #19732 from aDanPin:danpin/gapi/stereo_operation_and_test

G-API Stereo operation and tests

modules/gapi/test/common/gapi_stereo_tests.cpp

@@ -0,0 +1,8 @@
+// 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.
+//
+// Copyright (C) 2021 Intel Corporation
+
+#include "../test_precomp.hpp"
+#include "gapi_stereo_tests_inl.hpp"

modules/gapi/test/common/gapi_stereo_tests.hpp

@@ -0,0 +1,26 @@
+// 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.
+//
+// Copyright (C) 2021 Intel Corporation
+
+
+#ifndef OPENCV_GAPI_STEREO_TESTS_HPP
+#define OPENCV_GAPI_STEREO_TESTS_HPP
+
+
+#include <opencv2/gapi/stereo.hpp> // fore cv::gapi::StereoOutputFormat
+
+#include "gapi_tests_common.hpp"
+#include "gapi_parsers_tests_common.hpp"
+
+namespace opencv_test
+{
+
+GAPI_TEST_FIXTURE(TestGAPIStereo, initMatsRandU, FIXTURE_API(cv::gapi::StereoOutputFormat, int, int, double, double, CompareMats), 6,
+                                                             oF, numDisparities, blockSize, baseline,
+                                                             focus, cmpF)
+
+} // namespace opencv_test
+
+#endif // OPENCV_GAPI_STEREO_TESTS_HPP

modules/gapi/test/common/gapi_stereo_tests_inl.hpp

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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.
+//
+// Copyright (C) 2021 Intel Corporation
+
+#ifndef OPENCV_GAPI_STEREO_TESTS_INL_HPP
+#define OPENCV_GAPI_STEREO_TESTS_INL_HPP
+
+
+#include <opencv2/gapi/stereo.hpp>
+#include <opencv2/gapi/cpu/stereo.hpp>
+#include "gapi_stereo_tests.hpp"
+
+#ifdef HAVE_OPENCV_CALIB3D
+
+#include <opencv2/calib3d.hpp>
+
+namespace opencv_test {
+
+TEST_P(TestGAPIStereo, DisparityDepthTest)
+{
+    using format = cv::gapi::StereoOutputFormat;
+    switch(oF) {
+        case format::DEPTH_FLOAT16: dtype = CV_16FC1; break;
+        case format::DEPTH_FLOAT32: dtype = CV_32FC1; break;
+        case format::DISPARITY_FIXED16_12_4: dtype = CV_16SC1; break;
+        default: GAPI_Assert(false && "Unsupported format in test");
+    }
+    initOutMats(sz, dtype);
+
+    // G-API
+    cv::GMat inL, inR;
+    cv::GMat out = cv::gapi::stereo(inL, inR, oF);
+
+    cv::GComputation(cv::GIn(inL, inR), cv::GOut(out))
+        .apply(cv::gin(in_mat1, in_mat2), cv::gout(out_mat_gapi),
+        cv::compile_args(cv::gapi::calib3d::cpu::kernels(),
+                         cv::gapi::calib3d::cpu::StereoInitParam {
+                             numDisparities,
+                             blockSize,
+                             baseline,
+                             focus}));
+
+    // OpenCV
+    cv::StereoBM::create(numDisparities, blockSize)->compute(in_mat1,
+                                                             in_mat2,
+                                                             out_mat_ocv);
+
+    static const int DISPARITY_SHIFT_16S = 4;
+    switch(oF) {
+        case format::DEPTH_FLOAT16:
+            out_mat_ocv.convertTo(out_mat_ocv, CV_32FC1, 1./(1 << DISPARITY_SHIFT_16S), 0);
+            out_mat_ocv = (focus * baseline) / out_mat_ocv;
+            out_mat_ocv.convertTo(out_mat_ocv, CV_16FC1);
+            break;
+        case format::DEPTH_FLOAT32:
+            out_mat_ocv.convertTo(out_mat_ocv, CV_32FC1, 1./(1 << DISPARITY_SHIFT_16S), 0);
+            out_mat_ocv = (focus * baseline) / out_mat_ocv;
+            break;
+        case format::DISPARITY_FIXED16_12_4:
+            break;
+        default:
+            GAPI_Assert(false && "Unsupported format in test");
+    }
+
+    EXPECT_TRUE(cmpF(out_mat_gapi, out_mat_ocv));
+}
+
+} // namespace opencv_test
+
+#endif // HAVE_OPENCV_CALIB3D
+
+#endif // OPENCV_GAPI_STEREO_TESTS_INL_HPP

modules/gapi/test/cpu/gapi_stereo_tests_cpu.cpp

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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.
+//
+// Copyright (C) 2021 Intel Corporation
+
+
+#include "../test_precomp.hpp"
+#include "../common/gapi_stereo_tests.hpp"
+
+#include <opencv2/gapi/stereo.hpp> // For ::gapi::stereo::disparity/depth
+#include <opencv2/gapi/cpu/stereo.hpp>
+
+namespace
+{
+#define STEREO_CPU [] () { return cv::compile_args(cv::gapi::use_only{cv::gapi::calib3d::cpu::kernels()}); }
+}  // anonymous namespace
+
+namespace opencv_test
+{
+
+INSTANTIATE_TEST_CASE_P(CPU_Tests, TestGAPIStereo,
+                        Combine(Values(CV_8UC1),
+                                Values(cv::Size(1280, 720)),
+                                Values(CV_32FC1),
+                                Values(STEREO_CPU),
+                                Values(cv::gapi::StereoOutputFormat::DEPTH_FLOAT16,
+                                       cv::gapi::StereoOutputFormat::DEPTH_FLOAT32,
+                                       cv::gapi::StereoOutputFormat::DISPARITY_FIXED16_12_4),
+                                Values(16),
+                                Values(43),
+                                Values(10.),
+                                Values(100.),
+                                Values(AbsExact().to_compare_obj())));
+
+} // opencv_test