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test: add margins in disparity tests
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@duzelis
duzelis committed Apr 25, 2024
1 parent 4f43046 commit 189dab6
Showing 1 changed file with 98 additions and 21 deletions.
119 changes: 98 additions & 21 deletions tests/unit_tests/test_disparity.py
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Original file line number Diff line number Diff line change
Expand Up @@ -165,7 +165,28 @@ def test_arg_split(stereo_object_with_args, extrema_func, arg_extrema_func, expe
np.testing.assert_allclose(min_tensor, expected_result, atol=1e-06)


def test_compute_disparity_map_row():
@pytest.mark.parametrize(
"margins",
[
None,
Margins(0, 0, 0, 0),
Margins(0, 0, 1, 1),
Margins(1, 1, 1, 1),
pytest.param(
Margins(3, 3, 3, 3),
marks=pytest.mark.xfail(
reason="Pandora point_interval method does not work with disparities greater than the image"
),
),
pytest.param(
Margins(1, 2, 3, 4),
marks=pytest.mark.xfail(
reason="Pandora point_interval method does not work with disparities greater than the image"
),
),
],
)
def test_compute_disparity_map_row(margins):
"""
Test function for disparity computation
"""
Expand Down Expand Up @@ -217,15 +238,20 @@ def test_compute_disparity_map_row():
cfg_disp = {"disparity_method": "wta", "invalid_disparity": -5}
disparity_matcher = disparity.Disparity(cfg_disp)

grid_min_col = np.full((3, 3), -2)
grid_max_col = np.full((3, 3), 2)
grid_min_row = np.full((3, 3), -2)
grid_max_row = np.full((3, 3), 2)
grid_min_col = np.full((3, 4), -2)
grid_max_col = np.full((3, 4), 2)
grid_min_row = np.full((3, 4), -2)
grid_max_row = np.full((3, 4), 2)
matching_cost_matcher.allocate_cost_volume_pandora(
img_left=left, img_right=right, grid_min_col=grid_min_col, grid_max_col=grid_max_col, cfg=cfg_mc
img_left=left,
img_right=right,
grid_min_col=grid_min_col,
grid_max_col=grid_max_col,
cfg=cfg_mc,
margins=margins,
)
cvs = matching_cost_matcher.compute_cost_volumes(
left, right, grid_min_col, grid_max_col, grid_min_row, grid_max_row
left, right, grid_min_col, grid_max_col, grid_min_row, grid_max_row, margins
)

delta_x, delta_y, _ = disparity_matcher.compute_disp_maps(cvs)
Expand All @@ -234,7 +260,27 @@ def test_compute_disparity_map_row():
np.testing.assert_array_equal(ground_truth_row, delta_y)


def test_compute_disparity_map_col():
@pytest.mark.parametrize(
"margins",
[
None,
Margins(0, 0, 0, 0),
Margins(1, 0, 1, 0),
pytest.param(
Margins(3, 3, 3, 3),
marks=pytest.mark.xfail(
reason="Pandora point_interval method does not work with disparities greater than the image"
),
),
pytest.param(
Margins(1, 2, 3, 4),
marks=pytest.mark.xfail(
reason="Pandora point_interval method does not work with disparities greater than the image"
),
),
],
)
def test_compute_disparity_map_col(margins):
"""
Test function for disparity computation
"""
Expand Down Expand Up @@ -285,15 +331,20 @@ def test_compute_disparity_map_col():
cfg_disp = {"disparity_method": "wta", "invalid_disparity": -5}
disparity_matcher = disparity.Disparity(cfg_disp)

grid_min_col = np.full((3, 3), -3)
grid_max_col = np.full((3, 3), 3)
grid_min_row = np.full((3, 3), -3)
grid_max_row = np.full((3, 3), 3)
grid_min_col = np.full((3, 4), -3)
grid_max_col = np.full((3, 4), 3)
grid_min_row = np.full((3, 4), -3)
grid_max_row = np.full((3, 4), 3)
matching_cost_matcher.allocate_cost_volume_pandora(
img_left=left, img_right=right, grid_min_col=grid_min_col, grid_max_col=grid_max_col, cfg=cfg_mc
img_left=left,
img_right=right,
grid_min_col=grid_min_col,
grid_max_col=grid_max_col,
cfg=cfg_mc,
margins=margins,
)
cvs = matching_cost_matcher.compute_cost_volumes(
left, right, grid_min_col, grid_max_col, grid_min_row, grid_max_row
left, right, grid_min_col, grid_max_col, grid_min_row, grid_max_row, margins
)

delta_x, delta_y, _ = disparity_matcher.compute_disp_maps(cvs)
Expand All @@ -302,7 +353,27 @@ def test_compute_disparity_map_col():
np.testing.assert_array_equal(ground_truth_row, delta_y)


def test_compute_disparity_map_col_row():
@pytest.mark.parametrize(
"margins",
[
None,
Margins(0, 0, 0, 0),
Margins(1, 0, 1, 0),
pytest.param(
Margins(3, 3, 3, 3),
marks=pytest.mark.xfail(
reason="Pandora point_interval method does not work with disparities greater than the image"
),
),
pytest.param(
Margins(1, 2, 3, 4),
marks=pytest.mark.xfail(
reason="Pandora point_interval method does not work with disparities greater than the image"
),
),
],
)
def test_compute_disparity_map_col_row(margins):
"""
Test function for disparity computation
"""
Expand Down Expand Up @@ -353,15 +424,20 @@ def test_compute_disparity_map_col_row():
cfg_disp = {"disparity_method": "wta", "invalid_disparity": -5}
disparity_matcher = disparity.Disparity(cfg_disp)

grid_min_col = np.full((3, 3), -3)
grid_max_col = np.full((3, 3), 3)
grid_min_row = np.full((3, 3), -3)
grid_max_row = np.full((3, 3), 3)
grid_min_col = np.full((3, 4), -3)
grid_max_col = np.full((3, 4), 3)
grid_min_row = np.full((3, 4), -3)
grid_max_row = np.full((3, 4), 3)
matching_cost_matcher.allocate_cost_volume_pandora(
img_left=left, img_right=right, grid_min_col=grid_min_col, grid_max_col=grid_max_col, cfg=cfg_mc
img_left=left,
img_right=right,
grid_min_col=grid_min_col,
grid_max_col=grid_max_col,
cfg=cfg_mc,
margins=margins,
)
cvs = matching_cost_matcher.compute_cost_volumes(
left, right, grid_min_col, grid_max_col, grid_min_row, grid_max_row
left, right, grid_min_col, grid_max_col, grid_min_row, grid_max_row, margins
)

delta_x, delta_y, _ = disparity_matcher.compute_disp_maps(cvs)
Expand Down Expand Up @@ -411,6 +487,7 @@ def test_masked_nan():
)

cost_volumes_dataset.attrs["type_measure"] = "max"
cost_volumes_dataset.attrs["disparity_margins"] = None

cfg_disp = {"disparity_method": "wta", "invalid_disparity": -99}
disparity_matcher = disparity.Disparity(cfg_disp)
Expand Down

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