Initial commit: Speckle-Scanner 3D pipeline with setup README

2026-06-10 03:09:05 +05:00
commit 1765934846
375 changed files with 123081 additions and 0 deletions
@@ -0,0 +1,236 @@
+#include <gtest/gtest.h>
+
+#include <algorithm>
+
+#include "host_image.h"
+#include "device_image.h"
+#include "test_utility.h"
+#include "internal.h"
+#include "constants.h"
+
+namespace sgm
+{
+
+template <typename SRC_T>
+static void check_consistency_(HostImage& dispL, const HostImage& dispR, const HostImage& srcL,
+	bool subpixel, int LR_max_diff)
+{
+	using DST_T = uint16_t;
+
+	const int h = srcL.rows;
+	const int w = srcL.cols;
+
+	for (int y = 0; y < h; y++)
+	{
+		const SRC_T* ptrMask = srcL.ptr<SRC_T>(y);
+		DST_T* ptrDispL = dispL.ptr<DST_T>(y);
+		const DST_T* ptrDispR = dispR.ptr<DST_T>(y);
+		for (int x = 0; x < w; x++)
+		{
+			const SRC_T mask = ptrMask[x];
+			const DST_T disp = ptrDispL[x];
+			int d = disp;
+			if (subpixel) {
+				d >>= sgm::StereoSGM::SUBPIXEL_SHIFT;
+			}
+			const int k = x - d;
+			if (mask == 0 || disp == sgm::INVALID_DISP ||
+				(k >= 0 && k < w && LR_max_diff >= 0 && abs(ptrDispR[k] - d) > LR_max_diff)) {
+				ptrDispL[x] = static_cast<DST_T>(sgm::INVALID_DISP);
+			}
+		}
+	}
+}
+
+void check_consistency(HostImage& dispL, const HostImage& dispR, const HostImage& srcL,
+	bool subpixel, int LR_max_diff)
+{
+	if (srcL.type == SGM_8U)
+		check_consistency_<uint8_t>(dispL, dispR, srcL, subpixel, LR_max_diff);
+	if (srcL.type == SGM_16U)
+		check_consistency_<uint16_t>(dispL, dispR, srcL, subpixel, LR_max_diff);
+	if (srcL.type == SGM_32U)
+		check_consistency_<uint32_t>(dispL, dispR, srcL, subpixel, LR_max_diff);
+}
+
+} // namespace sgm
+
+TEST(CheckConsistencyTest, RandomU8)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_8U;
+	const ImageType dtype = SGM_16U;
+	const int LR_max_diff = 5;
+	const bool subpixel = false;
+
+	HostImage h_srcL(h, w, stype, pitch), h_dispL(h, w, dtype, pitch), h_dispR(h, w, dtype, pitch);
+	DeviceImage d_srcL(h, w, stype, pitch), d_dispL(h, w, dtype, pitch), d_dispR(h, w, dtype, pitch);
+
+	random_fill(h_srcL);
+	random_fill(h_dispL);
+	random_fill(h_dispR);
+
+	d_srcL.upload(h_srcL.data);
+	d_dispL.upload(h_dispL.data);
+	d_dispR.upload(h_dispR.data);
+
+	check_consistency(h_dispL, h_dispR, h_srcL, subpixel, LR_max_diff);
+	check_consistency(d_dispL, d_dispR, d_srcL, subpixel, LR_max_diff);
+
+	EXPECT_TRUE(equals(h_dispL, d_dispL));
+}
+
+TEST(CheckConsistencyTest, RandomU16)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_16U;
+	const ImageType dtype = SGM_16U;
+	const int LR_max_diff = 5;
+	const bool subpixel = false;
+
+	HostImage h_srcL(h, w, stype, pitch), h_dispL(h, w, dtype, pitch), h_dispR(h, w, dtype, pitch);
+	DeviceImage d_srcL(h, w, stype, pitch), d_dispL(h, w, dtype, pitch), d_dispR(h, w, dtype, pitch);
+
+	random_fill(h_srcL);
+	random_fill(h_dispL);
+	random_fill(h_dispR);
+
+	d_srcL.upload(h_srcL.data);
+	d_dispL.upload(h_dispL.data);
+	d_dispR.upload(h_dispR.data);
+
+	check_consistency(h_dispL, h_dispR, h_srcL, subpixel, LR_max_diff);
+	check_consistency(d_dispL, d_dispR, d_srcL, subpixel, LR_max_diff);
+
+	EXPECT_TRUE(equals(h_dispL, d_dispL));
+}
+
+TEST(CheckConsistencyTest, RandomU32)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_32U;
+	const ImageType dtype = SGM_16U;
+	const int LR_max_diff = 5;
+	const bool subpixel = false;
+
+	HostImage h_srcL(h, w, stype, pitch), h_dispL(h, w, dtype, pitch), h_dispR(h, w, dtype, pitch);
+	DeviceImage d_srcL(h, w, stype, pitch), d_dispL(h, w, dtype, pitch), d_dispR(h, w, dtype, pitch);
+
+	random_fill(h_srcL);
+	random_fill(h_dispL);
+	random_fill(h_dispR);
+
+	d_srcL.upload(h_srcL.data);
+	d_dispL.upload(h_dispL.data);
+	d_dispR.upload(h_dispR.data);
+
+	check_consistency(h_dispL, h_dispR, h_srcL, subpixel, LR_max_diff);
+	check_consistency(d_dispL, d_dispR, d_srcL, subpixel, LR_max_diff);
+
+	EXPECT_TRUE(equals(h_dispL, d_dispL));
+}
+
+TEST(CheckConsistencyTest, RandomU8_Subpixel)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_8U;
+	const ImageType dtype = SGM_16U;
+	const int LR_max_diff = 5;
+	const bool subpixel = true;
+
+	HostImage h_srcL(h, w, stype, pitch), h_dispL(h, w, dtype, pitch), h_dispR(h, w, dtype, pitch);
+	DeviceImage d_srcL(h, w, stype, pitch), d_dispL(h, w, dtype, pitch), d_dispR(h, w, dtype, pitch);
+
+	random_fill(h_srcL);
+	random_fill(h_dispL);
+	random_fill(h_dispR);
+
+	d_srcL.upload(h_srcL.data);
+	d_dispL.upload(h_dispL.data);
+	d_dispR.upload(h_dispR.data);
+
+	check_consistency(h_dispL, h_dispR, h_srcL, subpixel, LR_max_diff);
+	check_consistency(d_dispL, d_dispR, d_srcL, subpixel, LR_max_diff);
+
+	EXPECT_TRUE(equals(h_dispL, d_dispL));
+}
+
+TEST(CheckConsistencyTest, RandomU16_Subpixel)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_16U;
+	const ImageType dtype = SGM_16U;
+	const int LR_max_diff = 5;
+	const bool subpixel = true;
+
+	HostImage h_srcL(h, w, stype, pitch), h_dispL(h, w, dtype, pitch), h_dispR(h, w, dtype, pitch);
+	DeviceImage d_srcL(h, w, stype, pitch), d_dispL(h, w, dtype, pitch), d_dispR(h, w, dtype, pitch);
+
+	random_fill(h_srcL);
+	random_fill(h_dispL);
+	random_fill(h_dispR);
+
+	d_srcL.upload(h_srcL.data);
+	d_dispL.upload(h_dispL.data);
+	d_dispR.upload(h_dispR.data);
+
+	check_consistency(h_dispL, h_dispR, h_srcL, subpixel, LR_max_diff);
+	check_consistency(d_dispL, d_dispR, d_srcL, subpixel, LR_max_diff);
+
+	EXPECT_TRUE(equals(h_dispL, d_dispL));
+}
+
+TEST(CheckConsistencyTest, RandomU32_Subpixel)
+{
+	using namespace sgm;
+	using namespace details;
+
+	const int w = 631;
+	const int h = 479;
+	const int pitch = 640;
+	const ImageType stype = SGM_32U;
+	const ImageType dtype = SGM_16U;
+	const int LR_max_diff = 5;
+	const bool subpixel = true;
+
+	HostImage h_srcL(h, w, stype, pitch), h_dispL(h, w, dtype, pitch), h_dispR(h, w, dtype, pitch);
+	DeviceImage d_srcL(h, w, stype, pitch), d_dispL(h, w, dtype, pitch), d_dispR(h, w, dtype, pitch);
+
+	random_fill(h_srcL);
+	random_fill(h_dispL);
+	random_fill(h_dispR);
+
+	d_srcL.upload(h_srcL.data);
+	d_dispL.upload(h_dispL.data);
+	d_dispR.upload(h_dispR.data);
+
+	check_consistency(h_dispL, h_dispR, h_srcL, subpixel, LR_max_diff);
+	check_consistency(d_dispL, d_dispR, d_srcL, subpixel, LR_max_diff);
+
+	EXPECT_TRUE(equals(h_dispL, d_dispL));
+}