def test_blockSize(imgL, imgR, resultPath = 'test_blockSize'):
"""
Test different value of blockSize in range of [0,25]
"""
matcher_paramaters = init_matcher_parameters()
if not os.path.exists(resultPath):
os.makedirs(resultPath)
for blockSize in range(3, 29):
file_name = 'result' + str(blockSize) + '.jpg'
print("Saving file " + file_name)
change_blockSize(matcher_paramaters, blockSize)
dmc_2 = DepthMapCreator_2(matcher_paramaters)
depth_image = dmc_2.get_depth_image(imgL, imgR)
font = cv2.FONT_HERSHEY_SIMPLEX
#cv2.putText(depth_image, str(executing_time),(10,10), font, 0.3,(255,255,255),1,cv2.LINE_AA)
cv2.imwrite(os.path.join(resultPath, file_name), depth_image)
def test_numDisparities(imgL, imgR, resultPath = 'test_numDisparities'):
"""
Test different value of numDisparities with multiplier in range of [1, 25]
"""
matcher_paramaters = init_matcher_parameters()
if not os.path.exists(resultPath):
os.makedirs(resultPath)
for multiplier in range(1, 25):
numDisparities = 16 * multiplier
file_name = 'result' + str(numDisparities) + '.jpg'
change_numDisparities(matcher_paramaters, numDisparities)
dmc_2 = DepthMapCreator_2(matcher_paramaters)
depth_image = dmc_2.get_depth_image(imgL, imgR)
font = cv2.FONT_HERSHEY_SIMPLEX
#cv2.putText(depth_image, str(executing_time),(10,10), font, 0.3,(255,255,255),1,cv2.LINE_AA)
cv2.imwrite(os.path.join(resultPath, file_name), depth_image)
def test_depth_map_format():
'''
Verify that function returns non-empty numpy.uint8 object
'''
left_file = np.ones((270, 480, 3), dtype=np.uint8)
right_file = np.ones((270, 480, 3), dtype=np.uint8)*2
depth_map_creator = DepthMapCreator_2()
depth_map = depth_map_creator.get_depth_image(left_file, right_file)
assert depth_map is not None
assert depth_map.shape == (270, 480)
def test_empty_arguments():
'''
Verify that function raises error if input does not exist
'''
left_file = np.ones((270, 480, 3), dtype=np.uint8)
right_file = np.ones((270, 480, 3), dtype=np.uint8)*2
depth_map_creator = DepthMapCreator_2()
with pytest.raises(ValueError):
depth_map_creator.get_depth_image(None, right_file)
with pytest.raises(ValueError):
depth_map_creator.get_depth_image(left_file, None)
with pytest.raises(ValueError):
depth_map_creator.get_depth_image(None, None)
def test_windowSize(imgL, imgR, resultPath = 'windowSizeResult'):
"""
Test different value of windowSize in range of [0,25]
"""
matcher_paramaters = init_matcher_parameters()
dmc_2 = DepthMapCreator_2(matcher_paramaters)
if not os.path.exists(resultPath):
os.makedirs(resultPath)
for windowSize in range(50):
file_name = 'result' + str(windowSize) + '.jpg'
dmc_2.set_window_size(windowSize)
depth_image = dmc_2.get_depth_image(imgL, imgR)
font = cv2.FONT_HERSHEY_SIMPLEX
#cv2.putText(depth_image, str(executing_time),(10,10), font, 0.3,(255,255,255),1,cv2.LINE_AA)
cv2.imwrite(os.path.join(resultPath, file_name), depth_image)
def test_DMC_2(imgL, imgR):
matcher_parameters = init_matcher_parameters(windowSize=5,
minDisparity = 0,
numDisparities = 16 * 3,
blockSize = 5,
disp12MaxDiff = 1,
uniquenessRatio = 5,
speckleWindowSize = 0,
speckleRange = 2,
preFilterCap=63,
mode = cv2.STEREO_SGBM_MODE_SGBM)
dmc_2 = DepthMapCreator_2(matcher_parameters)
depth_image = dmc_2.get_depth_image(imgL, imgR)
font = cv2.FONT_HERSHEY_SIMPLEX
#cv2.putText(depth_image, str(executing_time),(10,10), font, 0.3,(255,255,255),1,cv2.LINE_AA)
cv2.imwrite("test_DMC2.jpg", depth_image)
return depth_image
def test_speckleWindowSize(imgL, imgR, resultPath = 'test_speckleWindowSize'):
"""
Test different value of speckleWindowSize with multiplier in range of [50, 200]
"""
matcher_paramaters = init_matcher_parameters()
if not os.path.exists(resultPath):
os.makedirs(resultPath)
for value in range(50, 200):
file_name = 'result' + str(value) + '.jpg'
change_speckleWindowSize(matcher_paramaters, value)
dmc_2 = DepthMapCreator_2(matcher_paramaters)
depth_image = dmc_2.get_depth_image(imgL, imgR)
font = cv2.FONT_HERSHEY_SIMPLEX
#cv2.putText(depth_image, str(executing_time),(10,10), font, 0.3,(255,255,255),1,cv2.LINE_AA)
cv2.imwrite(os.path.join(resultPath, file_name), depth_image)
def test_both_methods(imgL, imgR):
"""
Make function calls of DepthMapCreator and DepthCreator_2
Visually compare output
"""
matcher_parameters = init_matcher_parameters(windowSize=3,
minDisparity = 16,
numDisparities = 16,
blockSize = 15,
disp12MaxDiff = 1,
uniquenessRatio = 10,
speckleWindowSize = 100,
speckleRange = 32,
mode = cv2.STEREO_SGBM_MODE_SGBM)
# FILTER Parameters
filter_parameters = dict()
filter_parameters['lmbda'] = 80000
filter_parameters['sigma'] = 1.2
dmc = DepthMapCreator(filter_parameters, matcher_parameters)
dmc_2 = DepthMapCreator_2(matcher_parameters)
return dmc, dmc_2
def test_allParameters(imgL, imgR,
minDisp_list = [0, 16],
numDisp_multiplier_list = [6, 7, 8],
blockSize_list = [3, 7, 11],
speckleRange_list = [32],
sWS_list = [100],
windowSize_list = [3, 5, 7],
disp12MaxDiff_list = [1],
preFilterCap_list = [100],
uniquenessRatio_list = [15],
resultPath = 'test_allParameters_1'):
"""
Parameters to tests:
minDisparity(md):
numDisparity(nd):
blockSize(bs):
speckleRange(sR) :
speckleWindowSize(sWS):
disp12MaxDiff(d12MD)
windowSize(wS):
preFilterCap(pFC):
uniquenessRatio(uR):
"""
print('Test all parameters')
matcher_paramaters = init_matcher_parameters()
if not os.path.exists(resultPath):
os.makedirs(resultPath)
for md in minDisp_list:
change_minDisparity(matcher_paramaters, md)
for multiplier in numDisp_multiplier_list:
nd = multiplier * 16
change_numDisparities(matcher_paramaters, nd)
for bS in blockSize_list:
change_blockSize(matcher_paramaters, bS)
for sR in speckleRange_list:
change_speckleRange(matcher_paramaters, sR)
for sWS in sWS_list:
change_speckleWindowSize(matcher_paramaters, sWS)
for d12MD in disp12MaxDiff_list:
change_disp12MaxDiff(matcher_paramaters, d12MD)
dmc_2 = DepthMapCreator_2(matcher_paramaters)
for wS in windowSize_list:
dmc_2.set_window_size(wS)
for pFC in preFilterCap_list:
dmc_2.set_preFilterCap(pFC)
for uR in uniquenessRatio_list:
dmc_2.set_uniquenessRatio(uR)
file_name = 'md' + str(md) + '_nd' + str(nd) + '_bS' + str(bS) + '_sR' + str(sR) + '_sWS' + str(sWS) + '_d12MD' + str(d12MD) + '_wS' + str(wS) + '_pFC' + str(pFC) + '_uR' + str(uR) + '.jpg'
print(file_name + ' is processing ...')
depth_image = dmc_2.get_depth_image(imgL, imgR)
font = cv2.FONT_HERSHEY_SIMPLEX
#cv2.putText(depth_image, str(executing_time),(10,10), font, 0.3,(255,255,255),1,cv2.LINE_AA)
cv2.imwrite(os.path.join(resultPath, file_name), depth_image)