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Merge pull request #17224 from ganesh-k13:bugfix/calib3d/17201

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* Fixed indexing in prefilter

* Initialised prefilter

* Initialised prefilter with value initialisation

* Added TC to trigger different Mem Allocs in BufferBM

* Optimize cases with only needed conditions
This commit is contained in:
Ganesh Kathiresan 2020-05-14 22:00:01 +05:30 committed by GitHub
parent ea3c2307dc
commit cddd7f10d5
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2 changed files with 52 additions and 4 deletions
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5
modules/calib3d/src/stereobm.cpp
View File

@ -347,7 +347,8 @@ public:
htext(nstripes, NULL),
cbuf0(nstripes, NULL),
sad_short(nstripes, NULL),
hsad_short(nstripes, NULL)
hsad_short(nstripes, NULL),
prefilter()
{
const int wsz = params.SADWindowSize;
const int ndisp = params.numDisparities;
@ -379,7 +380,7 @@ public:
if (params.useNormPrefilter())
{
for (size_t i = 0; i < 2; ++i)
area.allocate(prefilter[0], width + params.preFilterSize + 2);
area.allocate(prefilter[i], width + params.preFilterSize + 2);
}
area.commit();

51
modules/calib3d/test/test_stereomatching.cpp
View File

@ -809,6 +809,55 @@ protected:
}
};
TEST(Calib3d_StereoBM, regression) { CV_StereoBMTest test; test.safe_run(); }
/* < preFilter, < preFilterCap, SADWindowSize > >*/
typedef tuple < int, tuple < int, int > > BufferBM_Params_t;
typedef testing::TestWithParam< BufferBM_Params_t > Calib3d_StereoBM_BufferBM;
const int preFilters[] =
{
StereoBM::PREFILTER_NORMALIZED_RESPONSE,
StereoBM::PREFILTER_XSOBEL
};
const tuple < int, int > useShortsConditions[] =
{
make_tuple(30, 19),
make_tuple(32, 23)
};
TEST_P(Calib3d_StereoBM_BufferBM, memAllocsTest)
{
const int preFilter = get<0>(GetParam());
const int preFilterCap = get<0>(get<1>(GetParam()));
const int SADWindowSize = get<1>(get<1>(GetParam()));
String path = cvtest::TS::ptr()->get_data_path() + "cv/stereomatching/datasets/teddy/";
Mat leftImg = imread(path + "im2.png", 0);
ASSERT_FALSE(leftImg.empty());
Mat rightImg = imread(path + "im6.png", 0);
ASSERT_FALSE(rightImg.empty());
Mat leftDisp;
{
Ptr<StereoBM> bm = StereoBM::create(16,9);
bm->setPreFilterType(preFilter);
bm->setPreFilterCap(preFilterCap);
bm->setBlockSize(SADWindowSize);
bm->compute( leftImg, rightImg, leftDisp);
ASSERT_FALSE(leftDisp.empty());
}
}
INSTANTIATE_TEST_CASE_P(/*nothing*/, Calib3d_StereoBM_BufferBM,
testing::Combine(
testing::ValuesIn(preFilters),
testing::ValuesIn(useShortsConditions)
)
);
//----------------------------------- StereoSGBM test -----------------------------------------------------
class CV_StereoSGBMTest : public CV_StereoMatchingTest
@ -869,8 +918,6 @@ protected:
}
};
TEST(Calib3d_StereoBM, regression) { CV_StereoBMTest test; test.safe_run(); }
TEST(Calib3d_StereoSGBM, regression) { CV_StereoSGBMTest test; test.safe_run(); }
TEST(Calib3d_StereoSGBM_HH4, regression)