Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
testImageAddSub.cpp

Test images addition / substraction.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test images addition / substraction.
*
* Author:
* Souriya Trinh
*
*****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
// List of allowed command line options
#define GETOPTARGS "cdi:o:n:h"
/*
Print the program options.
\param name : Program name.
\param badparam : Bad parameter name.
\param ipath: Input image path.
\param opath : Output image path.
\param user : Username.
\param nbiter : Number of benchmark iterations.
*/
void usage(const char *name, const char *badparam, const std::string &ipath, const std::string &opath,
const std::string &user, int nbiter)
{
fprintf(stdout, "\n\
Test images addition / substraction.\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-o <output image path>] [-n <nb iterations>]\n\
[-h]\n \
", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <input image path> %s\n\
Set image input path.\n\
From this path read \"Klimt/Klimt.pgm\"\n\
image.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-o <output image path> %s\n\
Set image output path.\n\
From this directory, creates the \"%s\"\n\
subdirectory depending on the username, where \n\
result output images are written.\n\
\n\
-n <nb iterations> %d\n\
Set the number of benchmark iterations.\n\
\n\
-h\n\
Print the help.\n\n", ipath.c_str(), opath.c_str(), user.c_str(), nbiter);
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, const std::string &user,
int &nbiter)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'i':
ipath = optarg_;
break;
case 'o':
opath = optarg_;
break;
case 'n':
nbiter = atoi(optarg_);
break;
case 'h':
usage(argv[0], NULL, ipath, opath, user, nbiter);
return false;
break;
case 'c':
case 'd':
break;
default:
usage(argv[0], optarg_, ipath, opath, user, nbiter);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, ipath, opath, user, nbiter);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
void regularImageAdd(const vpImage<unsigned char> &I1, const vpImage<unsigned char> &I2, vpImage<unsigned char> &Ires,
const bool saturate)
{
if ((I1.getHeight() != I2.getHeight()) || (I1.getWidth() != I2.getWidth())) {
throw(vpException(vpException::dimensionError, "The two images do not have the same size"));
}
if ((I1.getHeight() != Ires.getHeight()) || (I1.getWidth() != Ires.getWidth())) {
Ires.resize(I1.getHeight(), I1.getWidth());
}
unsigned char *ptr_I1 = I1.bitmap;
unsigned char *ptr_I2 = I2.bitmap;
unsigned char *ptr_Ires = Ires.bitmap;
for (unsigned int cpt = 0; cpt < Ires.getSize(); cpt++, ++ptr_I1, ++ptr_I2, ++ptr_Ires) {
*ptr_Ires = saturate ? vpMath::saturate<unsigned char>((short int)*ptr_I1 + (short int)*ptr_I2) : *ptr_I1 + *ptr_I2;
}
}
void regularImageSubtract(const vpImage<unsigned char> &I1, const vpImage<unsigned char> &I2,
vpImage<unsigned char> &Ires, const bool saturate)
{
if ((I1.getHeight() != I2.getHeight()) || (I1.getWidth() != I2.getWidth())) {
throw(vpException(vpException::dimensionError, "The two images do not have the same size"));
}
if ((I1.getHeight() != Ires.getHeight()) || (I1.getWidth() != Ires.getWidth())) {
Ires.resize(I1.getHeight(), I1.getWidth());
}
unsigned char *ptr_I1 = I1.bitmap;
unsigned char *ptr_I2 = I2.bitmap;
unsigned char *ptr_Ires = Ires.bitmap;
for (unsigned int cpt = 0; cpt < Ires.getSize(); cpt++, ++ptr_I1, ++ptr_I2, ++ptr_Ires) {
*ptr_Ires = saturate ? vpMath::saturate<unsigned char>((short int)*ptr_I1 - (short int)*ptr_I2) : *ptr_I1 - *ptr_I2;
}
}
int main(int argc, const char **argv)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string opt_opath;
std::string ipath;
std::string opath;
std::string filename;
std::string username;
int nbIterations = 100;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// Set the default input path
if (!env_ipath.empty())
ipath = env_ipath;
// Set the default output path
#if defined(_WIN32)
opt_opath = "C:/temp";
#else
opt_opath = "/tmp";
#endif
// Get the user login name
// Read the command line options
if (getOptions(argc, argv, opt_ipath, opt_opath, username, nbIterations) == false) {
exit(EXIT_FAILURE);
}
// Get the option values
if (!opt_ipath.empty())
ipath = opt_ipath;
if (!opt_opath.empty())
opath = opt_opath;
// Append to the output path string, the login name of the user
opath = vpIoTools::createFilePath(opath, username);
// Test if the output path exist. If no try to create it
if (vpIoTools::checkDirectory(opath) == false) {
try {
// Create the dirname
} catch (...) {
usage(argv[0], NULL, ipath, opt_opath, username, nbIterations);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create " << opath << std::endl;
std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
exit(EXIT_FAILURE);
}
}
// Compare ipath and env_ipath. If they differ, we take into account
// the input path comming from the command line option
if (opt_ipath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl << "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
// Test if an input path is set
if (opt_ipath.empty() && env_ipath.empty()) {
usage(argv[0], NULL, ipath, opt_opath, username, nbIterations);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< std::endl;
exit(EXIT_FAILURE);
}
//
// Here starts really the test
//
vpImage<unsigned char> I; // Input image
// Read the input grey image from the disk
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
std::cout << "Read image: " << filename << std::endl << std::endl;
vpImageIo::read(I, filename);
// Test add image
vpImageTools::imageAdd(I, Inull, Iadd);
if (Iadd != I) {
throw vpException(vpException::fatalError, "Problem with vpImageTools::imageAdd (Iadd != I)!");
} else {
std::cout << "(Iadd == I)? " << (Iadd == I) << std::endl;
}
// Test in-place add
Iadd = 0;
vpImageTools::imageAdd(I, Iadd, Iadd);
if (Iadd != I) {
throw vpException(vpException::fatalError, "Problem with in-place vpImageTools::imageAdd (Iadd != I)!");
} else {
std::cout << "In-place (Iadd == I)? " << (Iadd == I) << std::endl;
}
// Test subtract image
Inull = 0;
vpImageTools::imageSubtract(I, Inull, Isub);
if (Isub != I) {
throw vpException(vpException::fatalError, "Problem with vpImageTools::imageSubtract (Iadd != I)!");
} else {
std::cout << "(Isub == I)? " << (Isub == I) << std::endl;
}
// Test in-place subtract
Isub = 0;
if (Isub != I) {
throw vpException(vpException::fatalError, "Problem with in-place vpImageTools::imageSubtract (Isub != I)!");
} else {
std::cout << "In-place (Isub == I)? " << (Isub == I) << std::endl;
}
// Test add image saturation
for (unsigned int cpt = 0; cpt < I2.getSize(); cpt++) {
I2.bitmap[cpt] = (unsigned char)cpt;
}
// No saturation
vpImageTools::imageAdd(I, I2, Iadd, false);
vpImage<unsigned char> Iadd_regular;
regularImageAdd(I, I2, Iadd_regular, false);
if (Iadd != Iadd_regular) {
throw vpException(vpException::fatalError, "Problem with vpImageTools::imageAdd(I, I2, Iadd, "
"false) (Iadd != Iadd_regular)!");
} else {
std::cout << "\nNo saturation (Iadd == Iadd_regular)? " << (Iadd == Iadd_regular) << std::endl;
}
// Saturation
vpImageTools::imageAdd(I, I2, Iadd, true);
regularImageAdd(I, I2, Iadd_regular, true);
if (Iadd != Iadd_regular) {
throw vpException(vpException::fatalError, "Problem with vpImageTools::imageAdd(I, I2, Iadd, "
"true) (Iadd != Iadd_regular)!");
} else {
std::cout << "Saturation (Iadd == Iadd_regular)? " << (Iadd == Iadd_regular) << std::endl;
}
// Test subtract image saturation
// No saturation
vpImageTools::imageSubtract(I, I2, Isub, false);
vpImage<unsigned char> Isub_regular;
regularImageSubtract(I, I2, Isub_regular, false);
if (Isub != Isub_regular) {
throw vpException(vpException::fatalError, "Problem with vpImageTools::imageSubtract(I, I2, "
"Isub, false) (Isub != Isub_regular)!");
} else {
std::cout << "\nNo saturation (Isub == Isub_regular)? " << (Isub == Isub_regular) << std::endl;
}
// Saturation
vpImageTools::imageSubtract(I, I2, Isub, true);
regularImageSubtract(I, I2, Isub_regular, true);
if (Isub != Isub_regular) {
throw vpException(vpException::fatalError, "Problem with vpImageTools::imageSubtract(I, I2, "
"Isub, true) (Isub != Isub_regular)!");
} else {
std::cout << "Saturation (Isub == Isub_regular)? " << (Isub == Isub_regular) << std::endl;
}
// Benchmark
// Benchmark add no saturation
Iadd = 0;
double t_sse = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageTools::imageAdd(I, Iadd, Iadd, false);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "\nAdd no saturation ; t_sse (" << nbIterations << " iterations)=" << t_sse << " ms" << std::endl;
Iadd_regular = 0;
double t = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
regularImageAdd(I, Iadd_regular, Iadd_regular, false);
}
std::cout << "Add regular no saturation ; t (" << nbIterations << " iterations)=" << t << " ms"
<< " ; Speed-up: " << (t / t_sse) << "X" << std::endl;
std::cout << "(Iadd == Iadd_regular)? " << (Iadd == Iadd_regular) << std::endl;
// Write add no saturation
filename = vpIoTools::createFilePath(opath, "Klimt_add_no_sat_sse.pgm");
std::cout << "\nWrite: " << filename << std::endl;
vpImageIo::write(Iadd, filename);
filename = vpIoTools::createFilePath(opath, "Klimt_add_no_sat.pgm");
std::cout << "Write: " << filename << std::endl;
vpImageIo::write(Iadd_regular, filename);
// Benchmark add saturation
Iadd = 0;
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageTools::imageAdd(I, Iadd, Iadd, true);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "\nAdd saturation ; t_sse (" << nbIterations << " iterations)=" << t_sse << " ms" << std::endl;
Iadd_regular = 0;
for (int cpt = 0; cpt < nbIterations; cpt++) {
regularImageAdd(I, Iadd_regular, Iadd_regular, true);
}
std::cout << "Add saturation ; t (" << nbIterations << " iterations)=" << t << " ms"
<< " ; Speed-up: " << (t / t_sse) << "X" << std::endl;
std::cout << "(Iadd == Iadd_regular)? " << (Iadd == Iadd_regular) << std::endl;
// Write add no saturation
filename = vpIoTools::createFilePath(opath, "Klimt_add_sat_sse.pgm");
std::cout << "\nWrite: " << filename << std::endl;
vpImageIo::write(Iadd, filename);
filename = vpIoTools::createFilePath(opath, "Klimt_add_sat.pgm");
std::cout << "Write: " << filename << std::endl;
vpImageIo::write(Iadd_regular, filename);
// Benchmark subtract no saturation
Isub = I2;
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageTools::imageSubtract(I, Isub, Isub, false);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "\nSubtract no saturation ; t_sse (" << nbIterations << " iterations)=" << t_sse << " ms" << std::endl;
Isub_regular = I2;
for (int cpt = 0; cpt < nbIterations; cpt++) {
regularImageSubtract(I, Isub_regular, Isub_regular, false);
}
std::cout << "Subtract regular no saturation ; t (" << nbIterations << " iterations)=" << t << " ms"
<< " ; Speed-up: " << (t / t_sse) << "X" << std::endl;
std::cout << "(Isub == Isub_regular)? " << (Isub == Isub_regular) << std::endl;
// Write subtract no saturation
filename = vpIoTools::createFilePath(opath, "Klimt_subtract_no_sat_sse.pgm");
std::cout << "\nWrite: " << filename << std::endl;
vpImageIo::write(Isub, filename);
filename = vpIoTools::createFilePath(opath, "Klimt_subtract_no_sat.pgm");
std::cout << "Write: " << filename << std::endl;
vpImageIo::write(Isub_regular, filename);
// Benchmark subtract saturation
Isub = I2;
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageTools::imageSubtract(I, Isub, Isub, true);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "\nSubtract saturation ; t_sse (" << nbIterations << " iterations)=" << t_sse << " ms" << std::endl;
Isub_regular = I2;
for (int cpt = 0; cpt < nbIterations; cpt++) {
regularImageSubtract(I, Isub_regular, Isub_regular, true);
}
std::cout << "Subtract saturation ; t (" << nbIterations << " iterations)=" << t << " ms"
<< " ; Speed-up: " << (t / t_sse) << "X" << std::endl;
std::cout << "(Isub == Isub_regular)? " << (Isub == Isub_regular) << std::endl;
// Write subtract no saturation
filename = vpIoTools::createFilePath(opath, "Klimt_subtract_sat_sse.pgm");
std::cout << "\nWrite: " << filename << std::endl;
vpImageIo::write(Isub, filename);
filename = vpIoTools::createFilePath(opath, "Klimt_subtract_sat.pgm");
std::cout << "Write: " << filename << std::endl;
vpImageIo::write(Isub_regular, filename);
// Invert Klimt with image cropped
if (I.getWidth() >= 411 && I.getHeight() >= 507) {
vpRect r_crop(0, 0, 411, 507);
vpImageTools::crop(I, r_crop, I_crop);
std::cout << "\nI_crop=" << I_crop.getWidth() << "x" << I_crop.getHeight() << std::endl;
vpImage<unsigned char> I_invert(I_crop.getHeight(), I_crop.getWidth(), 255);
vpImageTools::imageSubtract(I_invert, I_crop, I_invert);
vpImage<unsigned char> I_invert_regular(I_crop.getHeight(), I_crop.getWidth(), 255);
regularImageSubtract(I_invert_regular, I_crop, I_invert_regular, false);
std::cout << "(I_invert == I_invert_regular)? " << (I_invert == I_invert_regular) << std::endl;
vpImage<unsigned char> I_white(I_crop.getHeight(), I_crop.getWidth(), 255);
vpImage<unsigned char> I_invert2 = I_invert;
vpImageTools::imageAdd(I_invert2, I_crop, I_invert2);
std::cout << "(I_invert2 == I_white)? " << (I_invert2 == I_white) << std::endl;
filename = vpIoTools::createFilePath(opath, "Klimt_invert_crop.pgm");
std::cout << "Write: " << filename << std::endl;
vpImageIo::write(I_invert, filename);
}
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cerr << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}