Artur Mukhamadiev
24b6f9937f
- Add OpenCV and stdexec dependencies - ImageRPC type bridging OpenCV and RPC layers - Stereo rectification boilerplate - get-available-methods RPC method with get_count/get_method_name_by_id/get_method_names - Tests for remote method retrieval - CPU/GPU stereo matcher interfaces with SGBM implementation - Documentation consistency pass across impl and docs TG-5 #ready-for-test TG-2 #in-progress
63 lines
1.9 KiB
C++
63 lines
1.9 KiB
C++
#include <gtest/gtest.h>
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#include <opencv2/core.hpp>
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#include "cloud_point/cpu_stereo_matcher.hpp"
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#include "cloud_point/gpu_stereo_matcher.hpp"
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#include "cloud_point/stereo_matcher_factory.hpp"
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using namespace score;
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namespace {
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/// @brief Create a simple synthetic stereo pair with a horizontal shift.
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std::pair<cv::Mat, cv::Mat> make_synthetic_stereo(int shift = 2) {
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cv::Mat left = cv::Mat::zeros(100, 100, CV_8UC1);
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cv::Mat right = cv::Mat::zeros(100, 100, CV_8UC1);
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for (int y = 0; y < 100; ++y) {
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for (int x = 0; x < 100; ++x) {
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left.at<uchar>(y, x) = static_cast<uchar>(x % 256);
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right.at<uchar>(y, x) = static_cast<uchar>((x + shift) % 256);
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}
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}
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return {left, right};
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}
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} // namespace
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TEST(StereoMatcherTest, CpuMatcherComputesDisparity) {
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auto [left, right] = make_synthetic_stereo();
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CpuStereoMatcher matcher;
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cv::Mat disparity = matcher.compute(left, right);
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EXPECT_FALSE(disparity.empty());
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EXPECT_EQ(disparity.rows, left.rows);
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EXPECT_EQ(disparity.cols, left.cols);
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}
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TEST(StereoMatcherTest, FactoryCpuCreatesNonNull) {
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auto matcher = StereoMatcherFactory::create(StereoAlgorithmType::CPU);
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ASSERT_NE(matcher, nullptr);
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auto [left, right] = make_synthetic_stereo();
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cv::Mat disparity = matcher->compute(left, right);
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EXPECT_FALSE(disparity.empty());
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}
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TEST(StereoMatcherTest, FactoryGpuFallsBackToCpuWhenUnavailable) {
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// On this machine CUDA is absent; factory should fall back to CPU.
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auto matcher = StereoMatcherFactory::create(StereoAlgorithmType::GPU);
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ASSERT_NE(matcher, nullptr);
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auto [left, right] = make_synthetic_stereo();
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EXPECT_NO_THROW(matcher->compute(left, right));
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}
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TEST(StereoMatcherTest, GpuMatcherThrowsOnThisMachine) {
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// Direct construction of GpuStereoMatcher should throw because
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// HAVE_OPENCV_CUDA is undefined here.
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EXPECT_THROW(GpuStereoMatcher(), std::runtime_error);
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}
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