OpenCV/opencv_contrib/modules/cudastereo/test/test_stereo.cpp

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#include "test_precomp.hpp"

#ifdef HAVE_CUDA

namespace opencv_test { namespace {

//////////////////////////////////////////////////////////////////////////
// StereoBM

struct StereoBM : testing::TestWithParam<cv::cuda::DeviceInfo>
{
    cv::cuda::DeviceInfo devInfo;

    virtual void SetUp()
    {
        devInfo = GetParam();

        cv::cuda::setDevice(devInfo.deviceID());
    }
};

CUDA_TEST_P(StereoBM, Regression)
{
    cv::Mat left_image  = readImage("stereobm/aloe-L.png", cv::IMREAD_GRAYSCALE);
    cv::Mat right_image = readImage("stereobm/aloe-R.png", cv::IMREAD_GRAYSCALE);
    cv::Mat disp_gold   = readImage("stereobm/aloe-disp.png", cv::IMREAD_GRAYSCALE);

    ASSERT_FALSE(left_image.empty());
    ASSERT_FALSE(right_image.empty());
    ASSERT_FALSE(disp_gold.empty());

    cv::Ptr<cv::StereoBM> bm = cv::cuda::createStereoBM(128, 19);
    cv::cuda::GpuMat disp;

    bm->compute(loadMat(left_image), loadMat(right_image), disp);

    EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
}

CUDA_TEST_P(StereoBM, PrefilterXSobelRegression)
{
    cv::Mat left_image  = readImage("stereobm/aloe-L.png", cv::IMREAD_GRAYSCALE);
    cv::Mat right_image = readImage("stereobm/aloe-R.png", cv::IMREAD_GRAYSCALE);
    cv::Mat disp_gold   = readImage("stereobm/aloe-disp-prefilter-xsobel.png", cv::IMREAD_GRAYSCALE);

    ASSERT_FALSE(left_image.empty());
    ASSERT_FALSE(right_image.empty());
    ASSERT_FALSE(disp_gold.empty());

    cv::Ptr<cv::StereoBM> bm = cv::cuda::createStereoBM(128, 19);
    cv::cuda::GpuMat disp;

    bm->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
    bm->compute(loadMat(left_image), loadMat(right_image), disp);

    EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
}

CUDA_TEST_P(StereoBM, PrefilterNormRegression)
{
    cv::Mat left_image  = readImage("stereobm/aloe-L.png", cv::IMREAD_GRAYSCALE);
    cv::Mat right_image = readImage("stereobm/aloe-R.png", cv::IMREAD_GRAYSCALE);
    cv::Mat disp_gold   = readImage("stereobm/aloe-disp-prefilter-norm.png", cv::IMREAD_GRAYSCALE);

    ASSERT_FALSE(left_image.empty());
    ASSERT_FALSE(right_image.empty());
    ASSERT_FALSE(disp_gold.empty());

    cv::Ptr<cv::StereoBM> bm = cv::cuda::createStereoBM(128, 19);
    cv::cuda::GpuMat disp;

    bm->setPreFilterType(cv::StereoBM::PREFILTER_NORMALIZED_RESPONSE);
    bm->setPreFilterSize(9);
    bm->compute(loadMat(left_image), loadMat(right_image), disp);

    EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
}

CUDA_TEST_P(StereoBM, Streams)
{
    cv::cuda::Stream stream;
    cv::Mat left_image  = readImage("stereobm/aloe-L.png", cv::IMREAD_GRAYSCALE);
    cv::Mat right_image = readImage("stereobm/aloe-R.png", cv::IMREAD_GRAYSCALE);
    cv::Mat disp_gold   = readImage("stereobm/aloe-disp.png", cv::IMREAD_GRAYSCALE);

    ASSERT_FALSE(left_image.empty());
    ASSERT_FALSE(right_image.empty());
    ASSERT_FALSE(disp_gold.empty());

    cv::Ptr<cv::cuda::StereoBM> bm = cv::cuda::createStereoBM(128, 19);
    cv::cuda::GpuMat disp;

    bm->compute(loadMat(left_image), loadMat(right_image), disp, stream);
    stream.waitForCompletion();

    EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
}

CUDA_TEST_P(StereoBM, Uniqueness_Regression)
{
    cv::Mat left_image  = readImage("stereobm/aloe-L.png", cv::IMREAD_GRAYSCALE);
    cv::Mat right_image = readImage("stereobm/aloe-R.png", cv::IMREAD_GRAYSCALE);
    cv::Mat disp_gold   = readImage("stereobm/aloe-disp-uniqueness15.png", cv::IMREAD_GRAYSCALE);

    ASSERT_FALSE(left_image.empty());
    ASSERT_FALSE(right_image.empty());
    ASSERT_FALSE(disp_gold.empty());

    cv::Ptr<cv::StereoBM> bm = cv::cuda::createStereoBM(128, 19);
    cv::cuda::GpuMat disp;

    bm->setUniquenessRatio(15);
    bm->compute(loadMat(left_image), loadMat(right_image), disp);

    EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
}

INSTANTIATE_TEST_CASE_P(CUDA_Stereo, StereoBM, ALL_DEVICES);

//////////////////////////////////////////////////////////////////////////
// StereoBeliefPropagation

struct StereoBeliefPropagation : testing::TestWithParam<cv::cuda::DeviceInfo>
{
    cv::cuda::DeviceInfo devInfo;

    virtual void SetUp()
    {
        devInfo = GetParam();

        cv::cuda::setDevice(devInfo.deviceID());
    }
};

CUDA_TEST_P(StereoBeliefPropagation, Regression)
{
    cv::Mat left_image  = readImage("stereobp/aloe-L.png");
    cv::Mat right_image = readImage("stereobp/aloe-R.png");
    cv::Mat disp_gold   = readImage("stereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE);

    ASSERT_FALSE(left_image.empty());
    ASSERT_FALSE(right_image.empty());
    ASSERT_FALSE(disp_gold.empty());

    cv::Ptr<cv::cuda::StereoBeliefPropagation> bp = cv::cuda::createStereoBeliefPropagation(64, 8, 2, CV_16S);
    bp->setMaxDataTerm(25.0);
    bp->setDataWeight(0.1);
    bp->setMaxDiscTerm(15.0);
    bp->setDiscSingleJump(1.0);

    cv::cuda::GpuMat disp;

    bp->compute(loadMat(left_image), loadMat(right_image), disp);

    cv::Mat h_disp(disp);
    h_disp.convertTo(h_disp, disp_gold.depth());

    EXPECT_MAT_NEAR(disp_gold, h_disp, 0.0);
}

INSTANTIATE_TEST_CASE_P(CUDA_Stereo, StereoBeliefPropagation, ALL_DEVICES);

//////////////////////////////////////////////////////////////////////////
// StereoConstantSpaceBP

struct StereoConstantSpaceBP : testing::TestWithParam<cv::cuda::DeviceInfo>
{
    cv::cuda::DeviceInfo devInfo;

    virtual void SetUp()
    {
        devInfo = GetParam();

        cv::cuda::setDevice(devInfo.deviceID());
    }
};

CUDA_TEST_P(StereoConstantSpaceBP, Regression)
{
    cv::Mat left_image  = readImage("csstereobp/aloe-L.png");
    cv::Mat right_image = readImage("csstereobp/aloe-R.png");

    cv::Mat disp_gold;

    if (supportFeature(devInfo, cv::cuda::FEATURE_SET_COMPUTE_20))
        disp_gold = readImage("csstereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE);
    else
        disp_gold = readImage("csstereobp/aloe-disp_CC1X.png", cv::IMREAD_GRAYSCALE);

    ASSERT_FALSE(left_image.empty());
    ASSERT_FALSE(right_image.empty());
    ASSERT_FALSE(disp_gold.empty());

    cv::Ptr<cv::cuda::StereoConstantSpaceBP> csbp = cv::cuda::createStereoConstantSpaceBP(128, 16, 4, 4);
    cv::cuda::GpuMat disp;

    csbp->compute(loadMat(left_image), loadMat(right_image), disp);

    cv::Mat h_disp(disp);
    h_disp.convertTo(h_disp, disp_gold.depth());

    EXPECT_MAT_SIMILAR(disp_gold, h_disp, 1e-4);
}

INSTANTIATE_TEST_CASE_P(CUDA_Stereo, StereoConstantSpaceBP, ALL_DEVICES);

////////////////////////////////////////////////////////////////////////////////
// reprojectImageTo3D

PARAM_TEST_CASE(ReprojectImageTo3D, cv::cuda::DeviceInfo, cv::Size, MatDepth, UseRoi)
{
    cv::cuda::DeviceInfo devInfo;
    cv::Size size;
    int depth;
    bool useRoi;

    virtual void SetUp()
    {
        devInfo = GET_PARAM(0);
        size = GET_PARAM(1);
        depth = GET_PARAM(2);
        useRoi = GET_PARAM(3);

        cv::cuda::setDevice(devInfo.deviceID());
    }
};

CUDA_TEST_P(ReprojectImageTo3D, Accuracy)
{
    cv::Mat disp = randomMat(size, depth, 5.0, 30.0);
    cv::Mat Q = randomMat(cv::Size(4, 4), CV_32FC1, 0.1, 1.0);

    cv::cuda::GpuMat dst;
    cv::cuda::reprojectImageTo3D(loadMat(disp, useRoi), dst, Q, 3);

    cv::Mat dst_gold;
    cv::reprojectImageTo3D(disp, dst_gold, Q, false);

    EXPECT_MAT_NEAR(dst_gold, dst, 1e-5);
}

INSTANTIATE_TEST_CASE_P(CUDA_Stereo, ReprojectImageTo3D, testing::Combine(
    ALL_DEVICES,
    DIFFERENT_SIZES,
    testing::Values(MatDepth(CV_8U), MatDepth(CV_16S)),
    WHOLE_SUBMAT));

////////////////////////////////////////////////////////////////////////////////
// StereoSGM

/*
This is a regression test for stereo matching algorithms. This test gets some quality metrics
described in "A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms".
Daniel Scharstein, Richard Szeliski
*/

const float EVAL_BAD_THRESH = 1.f;
const int EVAL_TEXTURELESS_WIDTH = 3;
const float EVAL_TEXTURELESS_THRESH = 4.f;
const float EVAL_DISP_THRESH = 1.f;
const float EVAL_DISP_GAP = 2.f;
const int EVAL_DISCONT_WIDTH = 9;
const int EVAL_IGNORE_BORDER = 10;

const int ERROR_KINDS_COUNT = 6;

//============================== quality measuring functions =================================================

/*
Calculate textureless regions of image (regions where the squared horizontal intensity gradient averaged over
a square window of size=evalTexturelessWidth is below a threshold=evalTexturelessThresh) and textured regions.
*/
void computeTextureBasedMasks(const Mat& _img, Mat* texturelessMask, Mat* texturedMask,
                              int texturelessWidth = EVAL_TEXTURELESS_WIDTH, float texturelessThresh = EVAL_TEXTURELESS_THRESH)
{
    if (!texturelessMask && !texturedMask)
        return;
    if (_img.empty())
        CV_Error(Error::StsBadArg, "img is empty");

    Mat img = _img;
    if (_img.channels() > 1)
    {
        Mat tmp; cvtColor(_img, tmp, COLOR_BGR2GRAY); img = tmp;
    }
    Mat dxI; Sobel(img, dxI, CV_32FC1, 1, 0, 3);
    Mat dxI2; pow(dxI / 8.f/*normalize*/, 2, dxI2);
    Mat avgDxI2; boxFilter(dxI2, avgDxI2, CV_32FC1, Size(texturelessWidth, texturelessWidth));

    if (texturelessMask)
        *texturelessMask = avgDxI2 < texturelessThresh;
    if (texturedMask)
        *texturedMask = avgDxI2 >= texturelessThresh;
}

void checkTypeAndSizeOfDisp(const Mat& dispMap, const Size* sz)
{
    if (dispMap.empty())
        CV_Error(Error::StsBadArg, "dispMap is empty");
    if (dispMap.type() != CV_32FC1)
        CV_Error(Error::StsBadArg, "dispMap must have CV_32FC1 type");
    if (sz && (dispMap.rows != sz->height || dispMap.cols != sz->width))
        CV_Error(Error::StsBadArg, "dispMap has incorrect size");
}

void checkTypeAndSizeOfMask(const Mat& mask, Size sz)
{
    if (mask.empty())
        CV_Error(Error::StsBadArg, "mask is empty");
    if (mask.type() != CV_8UC1)
        CV_Error(Error::StsBadArg, "mask must have CV_8UC1 type");
    if (mask.rows != sz.height || mask.cols != sz.width)
        CV_Error(Error::StsBadArg, "mask has incorrect size");
}

void checkDispMapsAndUnknDispMasks(const Mat& leftDispMap, const Mat& rightDispMap,
                                   const Mat& leftUnknDispMask, const Mat& rightUnknDispMask)
{
    // check type and size of disparity maps
    checkTypeAndSizeOfDisp(leftDispMap, 0);
    if (!rightDispMap.empty())
    {
        Size sz = leftDispMap.size();
        checkTypeAndSizeOfDisp(rightDispMap, &sz);
    }

    // check size and type of unknown disparity maps
    if (!leftUnknDispMask.empty())
        checkTypeAndSizeOfMask(leftUnknDispMask, leftDispMap.size());
    if (!rightUnknDispMask.empty())
        checkTypeAndSizeOfMask(rightUnknDispMask, rightDispMap.size());

    // check values of disparity maps (known disparity values musy be positive)
    double leftMinVal = 0, rightMinVal = 0;
    if (leftUnknDispMask.empty())
        minMaxLoc(leftDispMap, &leftMinVal);
    else
        minMaxLoc(leftDispMap, &leftMinVal, 0, 0, 0, ~leftUnknDispMask);
    if (!rightDispMap.empty())
    {
        if (rightUnknDispMask.empty())
            minMaxLoc(rightDispMap, &rightMinVal);
        else
            minMaxLoc(rightDispMap, &rightMinVal, 0, 0, 0, ~rightUnknDispMask);
    }
    if (leftMinVal < 0 || rightMinVal < 0)
        CV_Error(Error::StsBadArg, "known disparity values must be positive");
}

/*
Calculate occluded regions of reference image (left image) (regions that are occluded in the matching image (right image),
i.e., where the forward-mapped disparity lands at a location with a larger (nearer) disparity) and non occluded regions.
*/
void computeOcclusionBasedMasks(const Mat& leftDisp, const Mat& _rightDisp,
                                Mat* occludedMask, Mat* nonOccludedMask,
                                const Mat& leftUnknDispMask = Mat(), const Mat& rightUnknDispMask = Mat(),
                                float dispThresh = EVAL_DISP_THRESH)
{
    if (!occludedMask && !nonOccludedMask)
        return;
    checkDispMapsAndUnknDispMasks(leftDisp, _rightDisp, leftUnknDispMask, rightUnknDispMask);

    Mat rightDisp;
    if (_rightDisp.empty())
    {
        if (!rightUnknDispMask.empty())
            CV_Error(Error::StsBadArg, "rightUnknDispMask must be empty if _rightDisp is empty");
        rightDisp.create(leftDisp.size(), CV_32FC1);
        rightDisp.setTo(Scalar::all(0));
        for (int leftY = 0; leftY < leftDisp.rows; leftY++)
        {
            for (int leftX = 0; leftX < leftDisp.cols; leftX++)
            {
                if (!leftUnknDispMask.empty() && leftUnknDispMask.at<uchar>(leftY, leftX))
                    continue;
                float leftDispVal = leftDisp.at<float>(leftY, leftX);
                int rightX = leftX - cvRound(leftDispVal), rightY = leftY;
                if (rightX >= 0)
                    rightDisp.at<float>(rightY, rightX) = max(rightDisp.at<float>(rightY, rightX), leftDispVal);
            }
        }
    }
    else
        _rightDisp.copyTo(rightDisp);

    if (occludedMask)
    {
        occludedMask->create(leftDisp.size(), CV_8UC1);
        occludedMask->setTo(Scalar::all(0));
    }
    if (nonOccludedMask)
    {
        nonOccludedMask->create(leftDisp.size(), CV_8UC1);
        nonOccludedMask->setTo(Scalar::all(0));
    }
    for (int leftY = 0; leftY < leftDisp.rows; leftY++)
    {
        for (int leftX = 0; leftX < leftDisp.cols; leftX++)
        {
            if (!leftUnknDispMask.empty() && leftUnknDispMask.at<uchar>(leftY, leftX))
                continue;
            float leftDispVal = leftDisp.at<float>(leftY, leftX);
            int rightX = leftX - cvRound(leftDispVal), rightY = leftY;
            if (rightX < 0 && occludedMask)
                occludedMask->at<uchar>(leftY, leftX) = 255;
            else
            {
                if (!rightUnknDispMask.empty() && rightUnknDispMask.at<uchar>(rightY, rightX))
                    continue;
                float rightDispVal = rightDisp.at<float>(rightY, rightX);
                if (rightDispVal > leftDispVal + dispThresh)
                {
                    if (occludedMask)
                        occludedMask->at<uchar>(leftY, leftX) = 255;
                }
                else
                {
                    if (nonOccludedMask)
                        nonOccludedMask->at<uchar>(leftY, leftX) = 255;
                }
            }
        }
    }
}

/*
Calculate depth discontinuty regions: pixels whose neiboring disparities differ by more than
dispGap, dilated by window of width discontWidth.
*/
void computeDepthDiscontMask(const Mat& disp, Mat& depthDiscontMask, const Mat& unknDispMask = Mat(),
                             float dispGap = EVAL_DISP_GAP, int discontWidth = EVAL_DISCONT_WIDTH)
{
    if (disp.empty())
        CV_Error(Error::StsBadArg, "disp is empty");
    if (disp.type() != CV_32FC1)
        CV_Error(Error::StsBadArg, "disp must have CV_32FC1 type");
    if (!unknDispMask.empty())
        checkTypeAndSizeOfMask(unknDispMask, disp.size());

    Mat curDisp; disp.copyTo(curDisp);
    if (!unknDispMask.empty())
        curDisp.setTo(Scalar(std::numeric_limits<float>::min()), unknDispMask);
    Mat maxNeighbDisp; dilate(curDisp, maxNeighbDisp, Mat(3, 3, CV_8UC1, Scalar(1)));
    if (!unknDispMask.empty())
        curDisp.setTo(Scalar(std::numeric_limits<float>::max()), unknDispMask);
    Mat minNeighbDisp; erode(curDisp, minNeighbDisp, Mat(3, 3, CV_8UC1, Scalar(1)));
    depthDiscontMask = max((Mat)(maxNeighbDisp - disp), (Mat)(disp - minNeighbDisp)) > dispGap;
    if (!unknDispMask.empty())
        depthDiscontMask &= ~unknDispMask;
    dilate(depthDiscontMask, depthDiscontMask, Mat(discontWidth, discontWidth, CV_8UC1, Scalar(1)));
}

/*
Get evaluation masks excluding a border.
*/
Mat getBorderedMask(Size maskSize, int border = EVAL_IGNORE_BORDER)
{
    CV_Assert(border >= 0);
    Mat mask(maskSize, CV_8UC1, Scalar(0));
    int w = maskSize.width - 2 * border, h = maskSize.height - 2 * border;
    if (w < 0 || h < 0)
        mask.setTo(Scalar(0));
    else
        mask(Rect(Point(border, border), Size(w, h))).setTo(Scalar(255));
    return mask;
}

/*
Calculate root-mean-squared error between the computed disparity map (computedDisp) and ground truth map (groundTruthDisp).
*/
float dispRMS(const Mat& computedDisp, const Mat& groundTruthDisp, const Mat& mask)
{
    checkTypeAndSizeOfDisp(groundTruthDisp, 0);
    Size sz = groundTruthDisp.size();
    checkTypeAndSizeOfDisp(computedDisp, &sz);

    int pointsCount = sz.height*sz.width;
    if (!mask.empty())
    {
        checkTypeAndSizeOfMask(mask, sz);
        pointsCount = countNonZero(mask);
    }
    return 1.f / sqrt((float)pointsCount) * (float)cvtest::norm(computedDisp, groundTruthDisp, NORM_L2, mask);
}

/*
Calculate fraction of bad matching pixels.
*/
float badMatchPxlsFraction(const Mat& computedDisp, const Mat& groundTruthDisp, const Mat& mask,
                           float _badThresh = EVAL_BAD_THRESH)
{
    int badThresh = cvRound(_badThresh);
    checkTypeAndSizeOfDisp(groundTruthDisp, 0);
    Size sz = groundTruthDisp.size();
    checkTypeAndSizeOfDisp(computedDisp, &sz);

    Mat badPxlsMap;
    absdiff(computedDisp, groundTruthDisp, badPxlsMap);
    badPxlsMap = badPxlsMap > badThresh;
    int pointsCount = sz.height*sz.width;
    if (!mask.empty())
    {
        checkTypeAndSizeOfMask(mask, sz);
        badPxlsMap = badPxlsMap & mask;
        pointsCount = countNonZero(mask);
    }
    return 1.f / pointsCount * countNonZero(badPxlsMap);
}

//===================== regression test for stereo matching algorithms ==============================

const string ALGORITHMS_DIR = "stereomatching/algorithms/";
const string DATASETS_DIR = "stereomatching/datasets/";
const string DATASETS_FILE = "datasets.xml";

const string RUN_PARAMS_FILE = "_params.xml";
const string RESULT_FILE = "_res.xml";

const string LEFT_IMG_NAME = "im2.png";
const string RIGHT_IMG_NAME = "im6.png";
const string TRUE_LEFT_DISP_NAME = "disp2.png";
const string TRUE_RIGHT_DISP_NAME = "disp6.png";

string ERROR_PREFIXES[] = { "borderedAll",
"borderedNoOccl",
"borderedOccl",
"borderedTextured",
"borderedTextureless",
"borderedDepthDiscont" }; // size of ERROR_KINDS_COUNT

string ROI_PREFIXES[] = { "roiX",
"roiY",
"roiWidth",
"roiHeight" };


const string RMS_STR = "RMS";
const string BAD_PXLS_FRACTION_STR = "BadPxlsFraction";
const string ROI_STR = "ValidDisparityROI";

class QualityEvalParams
{
public:
    QualityEvalParams()
    {
        setDefaults();
    }
    QualityEvalParams(int _ignoreBorder)
    {
        setDefaults();
        ignoreBorder = _ignoreBorder;
    }
    void setDefaults()
    {
        badThresh = EVAL_BAD_THRESH;
        texturelessWidth = EVAL_TEXTURELESS_WIDTH;
        texturelessThresh = EVAL_TEXTURELESS_THRESH;
        dispThresh = EVAL_DISP_THRESH;
        dispGap = EVAL_DISP_GAP;
        discontWidth = EVAL_DISCONT_WIDTH;
        ignoreBorder = EVAL_IGNORE_BORDER;
    }
    float badThresh;
    int texturelessWidth;
    float texturelessThresh;
    float dispThresh;
    float dispGap;
    int discontWidth;
    int ignoreBorder;
};

class CV_StereoMatchingTest : public cvtest::BaseTest
{
public:
    CV_StereoMatchingTest()
    {
        rmsEps.resize(ERROR_KINDS_COUNT, 0.01f);  fracEps.resize(ERROR_KINDS_COUNT, 1.e-6f);
    }
protected:
    // assumed that left image is a reference image
    virtual int runStereoMatchingAlgorithm(const Mat& leftImg, const Mat& rightImg,
                                           Rect& calcROI, Mat& leftDisp, Mat& rightDisp, int caseIdx) = 0; // return ignored border width

    int readDatasetsParams(FileStorage& fs);
    virtual int readRunParams(FileStorage& fs);
    void writeErrors(const string& errName, const vector<float>& errors, FileStorage* fs = 0);
    void writeROI(const Rect& calcROI, FileStorage* fs = 0);
    void readErrors(FileNode& fn, const string& errName, vector<float>& errors);
    void readROI(FileNode& fn, Rect& trueROI);
    int compareErrors(const vector<float>& calcErrors, const vector<float>& validErrors,
                      const vector<float>& eps, const string& errName);
    int compareROI(const Rect& calcROI, const Rect& validROI);
    int processStereoMatchingResults(FileStorage& fs, int caseIdx, bool isWrite,
                                     const Mat& leftImg, const Mat& rightImg,
                                     const Rect& calcROI,
                                     const Mat& trueLeftDisp, const Mat& trueRightDisp,
                                     const Mat& leftDisp, const Mat& rightDisp,
                                     const QualityEvalParams& qualityEvalParams);
    void run(int);

    vector<float> rmsEps;
    vector<float> fracEps;

    struct DatasetParams
    {
        int dispScaleFactor;
        int dispUnknVal;
    };
    map<string, DatasetParams> datasetsParams;

    vector<string> caseNames;
    vector<string> caseDatasets;
};

void CV_StereoMatchingTest::run(int)
{
    addDataSearchSubDirectory("cv");
    string algorithmName = name;
    assert(!algorithmName.empty());

    FileStorage datasetsFS(findDataFile(DATASETS_DIR + DATASETS_FILE), FileStorage::READ);
    int code = readDatasetsParams(datasetsFS);
    if (code != cvtest::TS::OK)
    {
        ts->set_failed_test_info(code);
        return;
    }
    FileStorage runParamsFS(findDataFile(ALGORITHMS_DIR + algorithmName + RUN_PARAMS_FILE), FileStorage::READ);
    code = readRunParams(runParamsFS);
    if (code != cvtest::TS::OK)
    {
        ts->set_failed_test_info(code);
        return;
    }

    string fullResultFilename = findDataDirectory(ALGORITHMS_DIR) + algorithmName + RESULT_FILE;
    FileStorage resFS(fullResultFilename, FileStorage::READ);
    bool isWrite = true; // write or compare results
    if (resFS.isOpened())
        isWrite = false;
    else
    {
        resFS.open(fullResultFilename, FileStorage::WRITE);
        if (!resFS.isOpened())
        {
            ts->printf(cvtest::TS::LOG, "file %s can not be read or written\n", fullResultFilename.c_str());
            ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ARG_CHECK);
            return;
        }
        resFS << "stereo_matching" << "{";
    }

    int progress = 0, caseCount = (int)caseNames.size();
    for (int ci = 0; ci < caseCount; ci++)
    {
        progress = update_progress(progress, ci, caseCount, 0);
        printf("progress: %d%%\n", progress);
        fflush(stdout);
        string datasetName = caseDatasets[ci];
        string datasetFullDirName = findDataDirectory(DATASETS_DIR) + datasetName + "/";
        Mat leftImg = imread(datasetFullDirName + LEFT_IMG_NAME);
        Mat rightImg = imread(datasetFullDirName + RIGHT_IMG_NAME);
        Mat trueLeftDisp = imread(datasetFullDirName + TRUE_LEFT_DISP_NAME, 0);
        Mat trueRightDisp = imread(datasetFullDirName + TRUE_RIGHT_DISP_NAME, 0);
        Rect calcROI;

        if (leftImg.empty() || rightImg.empty() || trueLeftDisp.empty())
        {
            ts->printf(cvtest::TS::LOG, "images or left ground-truth disparities of dataset %s can not be read", datasetName.c_str());
            code = cvtest::TS::FAIL_INVALID_TEST_DATA;
            continue;
        }
        int dispScaleFactor = datasetsParams[datasetName].dispScaleFactor;
        Mat tmp;

        trueLeftDisp.convertTo(tmp, CV_32FC1, 1.f / dispScaleFactor);
        trueLeftDisp = tmp;
        tmp.release();

        if (!trueRightDisp.empty())
        {
            trueRightDisp.convertTo(tmp, CV_32FC1, 1.f / dispScaleFactor);
            trueRightDisp = tmp;
            tmp.release();
        }

        Mat leftDisp, rightDisp;
        int ignBorder = max(runStereoMatchingAlgorithm(leftImg, rightImg, calcROI, leftDisp, rightDisp, ci), EVAL_IGNORE_BORDER);

        leftDisp.convertTo(tmp, CV_32FC1);
        leftDisp = tmp;
        tmp.release();

        rightDisp.convertTo(tmp, CV_32FC1);
        rightDisp = tmp;
        tmp.release();

        int tempCode = processStereoMatchingResults(resFS, ci, isWrite,
                                                    leftImg, rightImg, calcROI, trueLeftDisp, trueRightDisp, leftDisp, rightDisp, QualityEvalParams(ignBorder));
        code = tempCode == cvtest::TS::OK ? code : tempCode;
    }

    if (isWrite)
        resFS << "}"; // "stereo_matching"

    ts->set_failed_test_info(code);
}

void calcErrors(const Mat& leftImg, const Mat& /*rightImg*/,
                const Mat& trueLeftDisp, const Mat& trueRightDisp,
                const Mat& trueLeftUnknDispMask, const Mat& trueRightUnknDispMask,
                const Mat& calcLeftDisp, const Mat& /*calcRightDisp*/,
                vector<float>& rms, vector<float>& badPxlsFractions,
                const QualityEvalParams& qualityEvalParams)
{
    Mat texturelessMask, texturedMask;
    computeTextureBasedMasks(leftImg, &texturelessMask, &texturedMask,
                             qualityEvalParams.texturelessWidth, qualityEvalParams.texturelessThresh);
    Mat occludedMask, nonOccludedMask;
    computeOcclusionBasedMasks(trueLeftDisp, trueRightDisp, &occludedMask, &nonOccludedMask,
                               trueLeftUnknDispMask, trueRightUnknDispMask, qualityEvalParams.dispThresh);
    Mat depthDiscontMask;
    computeDepthDiscontMask(trueLeftDisp, depthDiscontMask, trueLeftUnknDispMask,
                            qualityEvalParams.dispGap, qualityEvalParams.discontWidth);

    Mat borderedKnownMask = getBorderedMask(leftImg.size(), qualityEvalParams.ignoreBorder) & ~trueLeftUnknDispMask;

    nonOccludedMask &= borderedKnownMask;
    occludedMask &= borderedKnownMask;
    texturedMask &= nonOccludedMask; // & borderedKnownMask
    texturelessMask &= nonOccludedMask; // & borderedKnownMask
    depthDiscontMask &= nonOccludedMask; // & borderedKnownMask

    rms.resize(ERROR_KINDS_COUNT);
    rms[0] = dispRMS(calcLeftDisp, trueLeftDisp, borderedKnownMask);
    rms[1] = dispRMS(calcLeftDisp, trueLeftDisp, nonOccludedMask);
    rms[2] = dispRMS(calcLeftDisp, trueLeftDisp, occludedMask);
    rms[3] = dispRMS(calcLeftDisp, trueLeftDisp, texturedMask);
    rms[4] = dispRMS(calcLeftDisp, trueLeftDisp, texturelessMask);
    rms[5] = dispRMS(calcLeftDisp, trueLeftDisp, depthDiscontMask);

    badPxlsFractions.resize(ERROR_KINDS_COUNT);
    badPxlsFractions[0] = badMatchPxlsFraction(calcLeftDisp, trueLeftDisp, borderedKnownMask, qualityEvalParams.badThresh);
    badPxlsFractions[1] = badMatchPxlsFraction(calcLeftDisp, trueLeftDisp, nonOccludedMask, qualityEvalParams.badThresh);
    badPxlsFractions[2] = badMatchPxlsFraction(calcLeftDisp, trueLeftDisp, occludedMask, qualityEvalParams.badThresh);
    badPxlsFractions[3] = badMatchPxlsFraction(calcLeftDisp, trueLeftDisp, texturedMask, qualityEvalParams.badThresh);
    badPxlsFractions[4] = badMatchPxlsFraction(calcLeftDisp, trueLeftDisp, texturelessMask, qualityEvalParams.badThresh);
    badPxlsFractions[5] = badMatchPxlsFraction(calcLeftDisp, trueLeftDisp, depthDiscontMask, qualityEvalParams.badThresh);
}

int CV_StereoMatchingTest::processStereoMatchingResults(FileStorage& fs, int caseIdx, bool isWrite,
                                                        const Mat& leftImg, const Mat& rightImg,
                                                        const Rect& calcROI,
                                                        const Mat& trueLeftDisp, const Mat& trueRightDisp,
                                                        const Mat& leftDisp, const Mat& rightDisp,
                                                        const QualityEvalParams& qualityEvalParams)
{
    // rightDisp is not used in current test virsion
    int code = cvtest::TS::OK;
    assert(fs.isOpened());
    assert(trueLeftDisp.type() == CV_32FC1);
    assert(trueRightDisp.empty() || trueRightDisp.type() == CV_32FC1);
    assert(leftDisp.type() == CV_32FC1 && (rightDisp.empty() || rightDisp.type() == CV_32FC1));

    // get masks for unknown ground truth disparity values
    Mat leftUnknMask, rightUnknMask;
    DatasetParams params = datasetsParams[caseDatasets[caseIdx]];
    absdiff(trueLeftDisp, Scalar(params.dispUnknVal), leftUnknMask);
    leftUnknMask = leftUnknMask < std::numeric_limits<float>::epsilon();
    assert(leftUnknMask.type() == CV_8UC1);
    if (!trueRightDisp.empty())
    {
        absdiff(trueRightDisp, Scalar(params.dispUnknVal), rightUnknMask);
        rightUnknMask = rightUnknMask < std::numeric_limits<float>::epsilon();
        assert(rightUnknMask.type() == CV_8UC1);
    }

    // calculate errors
    vector<float> rmss, badPxlsFractions;
    calcErrors(leftImg, rightImg, trueLeftDisp, trueRightDisp, leftUnknMask, rightUnknMask,
               leftDisp, rightDisp, rmss, badPxlsFractions, qualityEvalParams);

    if (isWrite)
    {
        fs << caseNames[caseIdx] << "{";
        fs.writeComment(RMS_STR, 0);
        writeErrors(RMS_STR, rmss, &fs);
        fs.writeComment(BAD_PXLS_FRACTION_STR, 0);
        writeErrors(BAD_PXLS_FRACTION_STR, badPxlsFractions, &fs);
        fs.writeComment(ROI_STR, 0);
        writeROI(calcROI, &fs);
        fs << "}"; // datasetName
    }
    else // compare
    {
        ts->printf(cvtest::TS::LOG, "\nquality of case named %s\n", caseNames[caseIdx].c_str());
        ts->printf(cvtest::TS::LOG, "%s\n", RMS_STR.c_str());
        writeErrors(RMS_STR, rmss);
        ts->printf(cvtest::TS::LOG, "%s\n", BAD_PXLS_FRACTION_STR.c_str());
        writeErrors(BAD_PXLS_FRACTION_STR, badPxlsFractions);
        ts->printf(cvtest::TS::LOG, "%s\n", ROI_STR.c_str());
        writeROI(calcROI);

        FileNode fn = fs.getFirstTopLevelNode()[caseNames[caseIdx]];
        vector<float> validRmss, validBadPxlsFractions;
        Rect validROI;

        readErrors(fn, RMS_STR, validRmss);
        readErrors(fn, BAD_PXLS_FRACTION_STR, validBadPxlsFractions);
        readROI(fn, validROI);
        int tempCode = compareErrors(rmss, validRmss, rmsEps, RMS_STR);
        code = tempCode == cvtest::TS::OK ? code : tempCode;
        tempCode = compareErrors(badPxlsFractions, validBadPxlsFractions, fracEps, BAD_PXLS_FRACTION_STR);
        code = tempCode == cvtest::TS::OK ? code : tempCode;
        tempCode = compareROI(calcROI, validROI);
        code = tempCode == cvtest::TS::OK ? code : tempCode;
    }
    return code;
}

int CV_StereoMatchingTest::readDatasetsParams(FileStorage& fs)
{
    if (!fs.isOpened())
    {
        ts->printf(cvtest::TS::LOG, "datasetsParams can not be read ");
        return cvtest::TS::FAIL_INVALID_TEST_DATA;
    }
    datasetsParams.clear();
    FileNode fn = fs.getFirstTopLevelNode();
    assert(fn.isSeq());
    for (int i = 0; i < (int)fn.size(); i += 3)
    {
        String _name = fn[i];
        DatasetParams params;
        String sf = fn[i + 1]; params.dispScaleFactor = atoi(sf.c_str());
        String uv = fn[i + 2]; params.dispUnknVal = atoi(uv.c_str());
        datasetsParams[_name] = params;
    }
    return cvtest::TS::OK;
}

int CV_StereoMatchingTest::readRunParams(FileStorage& fs)
{
    if (!fs.isOpened())
    {
        ts->printf(cvtest::TS::LOG, "runParams can not be read ");
        return cvtest::TS::FAIL_INVALID_TEST_DATA;
    }
    caseNames.clear();;
    caseDatasets.clear();
    return cvtest::TS::OK;
}

void CV_StereoMatchingTest::writeErrors(const string& errName, const vector<float>& errors, FileStorage* fs)
{
    assert((int)errors.size() == ERROR_KINDS_COUNT);
    vector<float>::const_iterator it = errors.begin();
    if (fs)
        for (int i = 0; i < ERROR_KINDS_COUNT; i++, ++it)
            *fs << ERROR_PREFIXES[i] + errName << *it;
    else
        for (int i = 0; i < ERROR_KINDS_COUNT; i++, ++it)
            ts->printf(cvtest::TS::LOG, "%s = %f\n", string(ERROR_PREFIXES[i] + errName).c_str(), *it);
}

void CV_StereoMatchingTest::writeROI(const Rect& calcROI, FileStorage* fs)
{
    if (fs)
    {
        *fs << ROI_PREFIXES[0] << calcROI.x;
        *fs << ROI_PREFIXES[1] << calcROI.y;
        *fs << ROI_PREFIXES[2] << calcROI.width;
        *fs << ROI_PREFIXES[3] << calcROI.height;
    }
    else
    {
        ts->printf(cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[0].c_str(), calcROI.x);
        ts->printf(cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[1].c_str(), calcROI.y);
        ts->printf(cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[2].c_str(), calcROI.width);
        ts->printf(cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[3].c_str(), calcROI.height);
    }
}

void CV_StereoMatchingTest::readErrors(FileNode& fn, const string& errName, vector<float>& errors)
{
    errors.resize(ERROR_KINDS_COUNT);
    vector<float>::iterator it = errors.begin();
    for (int i = 0; i < ERROR_KINDS_COUNT; i++, ++it)
        fn[ERROR_PREFIXES[i] + errName] >> *it;
}

void CV_StereoMatchingTest::readROI(FileNode& fn, Rect& validROI)
{
    fn[ROI_PREFIXES[0]] >> validROI.x;
    fn[ROI_PREFIXES[1]] >> validROI.y;
    fn[ROI_PREFIXES[2]] >> validROI.width;
    fn[ROI_PREFIXES[3]] >> validROI.height;
}

int CV_StereoMatchingTest::compareErrors(const vector<float>& calcErrors, const vector<float>& validErrors,
                                         const vector<float>& eps, const string& errName)
{
    assert((int)calcErrors.size() == ERROR_KINDS_COUNT);
    assert((int)validErrors.size() == ERROR_KINDS_COUNT);
    assert((int)eps.size() == ERROR_KINDS_COUNT);
    vector<float>::const_iterator calcIt = calcErrors.begin(),
        validIt = validErrors.begin(),
        epsIt = eps.begin();
    bool ok = true;
    for (int i = 0; i < ERROR_KINDS_COUNT; i++, ++calcIt, ++validIt, ++epsIt)
        if (*calcIt - *validIt > *epsIt)
        {
            ts->printf(cvtest::TS::LOG, "bad accuracy of %s (valid=%f; calc=%f)\n", string(ERROR_PREFIXES[i] + errName).c_str(), *validIt, *calcIt);
            ok = false;
        }
    return ok ? cvtest::TS::OK : cvtest::TS::FAIL_BAD_ACCURACY;
}

int CV_StereoMatchingTest::compareROI(const Rect& calcROI, const Rect& validROI)
{
    int compare[4][2] = {
        { calcROI.x, validROI.x },
        { calcROI.y, validROI.y },
        { calcROI.width, validROI.width },
        { calcROI.height, validROI.height },
    };
    bool ok = true;
    for (int i = 0; i < 4; i++)
    {
        if (compare[i][0] != compare[i][1])
        {
            ts->printf(cvtest::TS::LOG, "bad accuracy of %s (valid=%d; calc=%d)\n", ROI_PREFIXES[i].c_str(), compare[i][1], compare[i][0]);
            ok = false;
        }
    }
    return ok ? cvtest::TS::OK : cvtest::TS::FAIL_BAD_ACCURACY;
}

//----------------------------------- StereoSGM test -----------------------------------------------------

class CV_Cuda_StereoSGMTest : public CV_StereoMatchingTest
{
public:
    CV_Cuda_StereoSGMTest()
    {
        name = "cuda_stereosgm";
        fill(rmsEps.begin(), rmsEps.end(), 0.25f);
        fill(fracEps.begin(), fracEps.end(), 0.01f);
    }

protected:
    struct RunParams
    {
        int ndisp;
        int mode;
    };
    vector<RunParams> caseRunParams;

    virtual int readRunParams(FileStorage& fs)
    {
        int code = CV_StereoMatchingTest::readRunParams(fs);
        FileNode fn = fs.getFirstTopLevelNode();
        assert(fn.isSeq());
        for (int i = 0; i < (int)fn.size(); i += 4)
        {
            String caseName = fn[i], datasetName = fn[i + 1];
            RunParams params;
            String ndisp = fn[i + 2]; params.ndisp = atoi(ndisp.c_str());
            String mode = fn[i + 3]; params.mode = atoi(mode.c_str());
            caseNames.push_back(caseName);
            caseDatasets.push_back(datasetName);
            caseRunParams.push_back(params);
        }
        return code;
    }

    virtual int runStereoMatchingAlgorithm(const Mat& leftImg, const Mat& rightImg,
                                           Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx)
    {
        RunParams params = caseRunParams[caseIdx];
        assert(params.ndisp % 16 == 0);
        Ptr<StereoMatcher> sgm = createStereoSGM(0, params.ndisp, 10, 120, 5, params.mode);

        cv::Mat G1, G2;
        cv::cvtColor(leftImg, G1, cv::COLOR_RGB2GRAY);
        cv::cvtColor(rightImg, G2, cv::COLOR_RGB2GRAY);
        cv::cuda::GpuMat d_leftImg, d_rightImg, d_leftDisp;
        d_leftImg.upload(G1);
        d_rightImg.upload(G2);
        sgm->compute(d_leftImg, d_rightImg, d_leftDisp);
        d_leftDisp.download(leftDisp);
        CV_Assert(leftDisp.type() == CV_16SC1);
        leftDisp.convertTo(leftDisp, CV_32FC1, 1.0 / StereoMatcher::DISP_SCALE);

        calcROI.x = calcROI.y = 0;
        calcROI.width = leftImg.cols;
        calcROI.height = leftImg.rows;
        return 0;
    }
};

TEST(CudaStereo_StereoSGM, regression) { CV_Cuda_StereoSGMTest test; test.safe_run(); }

}} // namespace
#endif // HAVE_CUDA