def test_compute_disparity_1_msk_ref():
"""
Test compute_disparity on ventoux dataset with pandora
"""
left_input = xr.open_dataset(absolute_data_path("input/intermediate_results/data1_ref_left_masked.nc"))
right_input = xr.open_dataset(absolute_data_path("input/intermediate_results/data1_ref_right.nc"))
# Pandora configuration
corr_cfg = create_corr_conf()
disp_min = -13
disp_max = 14
output = stereo.compute_disparity(left_input,
right_input,
corr_cfg,
disp_min,
disp_max,
verbose = True)
assert output['ref']['disp'].shape == (120, 110)
assert output['ref']['msk'].shape == (120, 110)
np.testing.assert_allclose(output['ref'].attrs["roi"],
np.array([420, 200, 530, 320]))
# Uncomment to update baseline
#output['ref'].to_netcdf(absolute_data_path("ref_output/disp1_ref_pandora_msk_ref.nc"))
#output['sec'].to_netcdf(absolute_data_path("ref_output/disp1_sec_pandora_msk_ref.nc"))
ref = xr.open_dataset(absolute_data_path("ref_output/disp1_ref_pandora_msk_ref.nc"))
assert_same_datasets(output['ref'],ref,atol=5.e-6)
sec = xr.open_dataset(absolute_data_path("ref_output/disp1_sec_pandora_msk_ref.nc"))
assert_same_datasets(output['sec'], sec, atol=5.e-6)
def test_compute_disparity_1_msk_sec(
images_and_grids_conf): #pylint: disable=redefined-outer-name
"""
Test compute_disparity on ventoux dataset with pandora
"""
left_input = xr.open_dataset(
absolute_data_path(
"input/intermediate_results/data1_ref_left.nc"))
right_input = xr.open_dataset(
absolute_data_path(
"input/intermediate_results/data1_ref_right_masked.nc"))
conf = deepcopy(images_and_grids_conf)
conf['input']['mask2_classes'] = absolute_data_path(
"input/intermediate_results/data1_ref_right_mask_classes.json")
# Pandora configuration
corr_cfg = create_corr_conf()
disp_min = -13
disp_max = 14
output = stereo.compute_disparity(left_input,
right_input,
conf,
corr_cfg,
disp_min,
disp_max,
verbose=True)
assert output[cst.STEREO_REF][cst.DISP_MAP].shape == (120, 110)
assert output[cst.STEREO_REF][cst.DISP_MSK].shape == (120, 110)
assert output[cst.STEREO_SEC][cst.DISP_MAP].shape == (160, 177)
assert output[cst.STEREO_SEC][cst.DISP_MSK].shape == (160, 177)
np.testing.assert_allclose(
output[cst.STEREO_REF].attrs[cst.ROI],
np.array([420, 200, 530, 320]))
np.testing.assert_allclose(
output[cst.STEREO_SEC].attrs[cst.ROI],
np.array([420, 200, 530, 320]))
np.testing.assert_allclose(
output[cst.STEREO_SEC].attrs[cst.ROI_WITH_MARGINS],
np.array([387, 180, 564, 340]))
# Uncomment to update baseline
# output[cst.STEREO_REF].to_netcdf(absolute_data_path(
# "ref_output/disp1_ref_pandora_msk_sec.nc"))
# output[cst.STEREO_SEC].to_netcdf(absolute_data_path(
# "ref_output/disp1_sec_pandora_msk_sec.nc"))
ref = xr.open_dataset(
absolute_data_path(
"ref_output/disp1_ref_pandora_msk_sec.nc"))
assert_same_datasets(output[cst.STEREO_REF],ref,atol=5.e-6)
sec = xr.open_dataset(
absolute_data_path(
"ref_output/disp1_sec_pandora_msk_sec.nc"))
assert_same_datasets(output[cst.STEREO_SEC], sec, atol=5.e-6)
def test_compute_disparity_3(
images_and_grids_conf): #pylint: disable=redefined-outer-name
"""
Test compute_disparity on paca dataset with pandora
"""
left_input = xr.open_dataset(absolute_data_path(
"input/intermediate_results/data3_ref_left.nc"))
right_input = xr.open_dataset(absolute_data_path(
"input/intermediate_results/data3_ref_right.nc"))
# Pandora configuration
corr_cfg = create_corr_conf()
disp_min = -43
disp_max = 41
output = stereo.compute_disparity(left_input,
right_input,
images_and_grids_conf,
corr_cfg,
disp_min,
disp_max)
assert output[cst.STEREO_REF][cst.DISP_MAP].shape == (90, 90)
assert output[cst.STEREO_REF][cst.DISP_MSK].shape == (90, 90)
assert output[cst.STEREO_SEC][cst.DISP_MAP].shape == (170, 254)
assert output[cst.STEREO_SEC][cst.DISP_MSK].shape == (170, 254)
np.testing.assert_allclose(
output[cst.STEREO_REF].attrs[cst.ROI],
np.array([16500, 23160, 16590, 23250]))
np.testing.assert_allclose(
output[cst.STEREO_SEC].attrs[cst.ROI],
np.array([16500, 23160, 16590, 23250]))
np.testing.assert_allclose(
output[cst.STEREO_SEC].attrs[cst.ROI_WITH_MARGINS],
np.array([16417, 23120, 16671, 23290]))
# Uncomment to update baseline
# output[cst.STEREO_REF].to_netcdf(absolute_data_path(
# "ref_output/disp3_ref_pandora.nc"))
# output[cst.STEREO_SEC].to_netcdf(absolute_data_path(
# "ref_output/disp3_sec_pandora.nc"))
ref = xr.open_dataset(absolute_data_path(
"ref_output/disp3_ref_pandora.nc"))
assert_same_datasets(output[cst.STEREO_REF], ref, atol=5.e-6)
sec = xr.open_dataset(absolute_data_path(
"ref_output/disp3_sec_pandora.nc"))
assert_same_datasets(output[cst.STEREO_SEC], sec, atol=5.e-6)
def test_compute_disparity_3():
"""
Test compute_disparity on paca dataset with pandora
"""
left_input = xr.open_dataset(absolute_data_path(
"input/intermediate_results/data3_ref_left.nc"))
right_input = xr.open_dataset(absolute_data_path(
"input/intermediate_results/data3_ref_right.nc"))
# Pandora configuration
corr_cfg = create_corr_conf()
disp_min = -43
disp_max = 41
output = stereo.compute_disparity(left_input,
right_input,
corr_cfg,
disp_min,
disp_max)
assert output['ref']['disp'].shape == (90, 90)
assert output['ref']['msk'].shape == (90, 90)
assert output['sec']['disp'].shape == (170, 254)
assert output['sec']['msk'].shape == (170, 254)
np.testing.assert_allclose(output['ref'].attrs["roi"],
np.array([16500, 23160, 16590, 23250]))
np.testing.assert_allclose(output['sec'].attrs["roi"],
np.array([16500, 23160, 16590, 23250]))
np.testing.assert_allclose(output['sec'].attrs["roi_with_margins"],
np.array([16417, 23120, 16671, 23290]))
# Uncomment to update baseline
#output['ref'].to_netcdf(absolute_data_path("ref_output/disp3_ref_pandora.nc"))
#output['sec'].to_netcdf(absolute_data_path("ref_output/disp3_sec_pandora.nc"))
ref = xr.open_dataset(absolute_data_path(
"ref_output/disp3_ref_pandora.nc"))
assert_same_datasets(output['ref'], ref, atol=5.e-6)
sec = xr.open_dataset(absolute_data_path(
"ref_output/disp3_sec_pandora.nc"))
assert_same_datasets(output['sec'], sec, atol=5.e-6)