Visual Servoing Platform  version 3.2.0 under development (2018-12-14)
testImageBinarise.cpp

Test vpImageTools::binarise() function.

/****************************************************************************
*
* 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
*
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*
* Description:
* Test for vpImageTools::binarise() function.
*
* Authors:
* Souriya Trinh
*
*****************************************************************************/
#include <visp3/core/vpImageTools.h>
int main()
{
std::cout << "Test vpImageTools::binarise() with different data types." << std::endl;
unsigned int width = 5, height = 4;
unsigned char *uchar_array = new unsigned char[width * height];
double *double_array = new double[width * height];
vpRGBa *rgba_array = new vpRGBa[width * height];
for (unsigned char i = 0; i < width * height; i++) {
uchar_array[i] = i;
double_array[i] = i;
rgba_array[i] = vpRGBa(i, i, i, i);
}
vpImage<unsigned char> I(uchar_array, height, width);
vpImage<double> I_double(double_array, height, width);
vpImage<vpRGBa> I_rgba(rgba_array, height, width);
std::cout << "I:" << std::endl;
for (unsigned int i = 0; i < I.getHeight(); i++) {
for (unsigned int j = 0; j < I.getWidth(); j++) {
std::cout << static_cast<unsigned>(I[i][j]) << " ";
}
std::cout << std::endl;
}
std::cout << "\nI_double:" << std::endl;
for (unsigned int i = 0; i < I_double.getHeight(); i++) {
for (unsigned int j = 0; j < I_double.getWidth(); j++) {
std::cout << I_double[i][j] << " ";
}
std::cout << std::endl;
}
std::cout << "\nI_rgba:" << std::endl;
for (unsigned int i = 0; i < I_rgba.getHeight(); i++) {
for (unsigned int j = 0; j < I_rgba.getWidth(); j++) {
std::cout << static_cast<unsigned>(I_rgba[i][j].R) << " ; " << static_cast<unsigned>(I_rgba[i][j].G) << " ; "
<< static_cast<unsigned>(I_rgba[i][j].B) << " ; " << static_cast<unsigned int>(I_rgba[i][j].A)
<< std::endl;
}
std::cout << std::endl;
}
vpImageTools::binarise(I, (unsigned char)5, (unsigned char)12, (unsigned char)0, (unsigned char)127,
(unsigned char)255);
vpImageTools::binarise(I_double, 5.0, 12.0, 0.0, 127.0, 255.0);
vpImageTools::binarise(I_rgba, vpRGBa(5), vpRGBa(12), vpRGBa(0), vpRGBa(127), vpRGBa(255));
std::cout << "\nI binarise:" << std::endl;
for (unsigned int i = 0; i < I.getHeight(); i++) {
for (unsigned int j = 0; j < I.getWidth(); j++) {
std::cout << static_cast<unsigned>(I[i][j]) << " ";
}
std::cout << std::endl;
}
std::cout << "\nI_double binarise:" << std::endl;
for (unsigned int i = 0; i < I_double.getHeight(); i++) {
for (unsigned int j = 0; j < I_double.getWidth(); j++) {
std::cout << I_double[i][j] << " ";
}
std::cout << std::endl;
}
std::cout << "\nI_rgba binarise:" << std::endl;
for (unsigned int i = 0; i < I_rgba.getHeight(); i++) {
for (unsigned int j = 0; j < I_rgba.getWidth(); j++) {
std::cout << static_cast<unsigned>(I_rgba[i][j].R) << " ; " << static_cast<unsigned>(I_rgba[i][j].G) << " ; "
<< static_cast<unsigned>(I_rgba[i][j].B) << " ; " << static_cast<unsigned>(I_rgba[i][j].A) << std::endl;
}
std::cout << std::endl;
}
// Check if results are the same between iterate and LUT methods
width = 32;
height = 8;
unsigned char *uchar_array1 = new unsigned char[width * height];
unsigned char *uchar_array2 = new unsigned char[width * height];
for (unsigned int i = 0; i < 256; i++) {
uchar_array1[i] = (unsigned char)i;
uchar_array2[i] = (unsigned char)i;
}
vpImage<unsigned char> I_uchar1(uchar_array1, height, width);
vpImage<unsigned char> I_uchar2(uchar_array2, height, width);
unsigned char threshold1 = 50, threshold2 = 200;
unsigned char value1 = 4, value2 = 127, value3 = 250;
vpImageTools::binarise(I_uchar1, threshold1, threshold2, value1, value2, value3, false);
vpImageTools::binarise(I_uchar2, threshold1, threshold2, value1, value2, value3, true);
for (unsigned int i = 0; i < height; i++) {
for (unsigned int j = 0; j < width; j++) {
if (I_uchar1[i][j] != I_uchar2[i][j]) {
std::cerr << "Results are different between iterate and LUT methods !" << std::endl;
return -1;
}
}
}
// Test performance between iterate and LUT methods
width = 640;
height = 480;
unsigned char *uchar_array_perf_lut = new unsigned char[width * height];
unsigned char *uchar_array_perf_iterate = new unsigned char[width * height];
for (unsigned int i = 0; i < width * height; i++) {
uchar_array_perf_lut[i] = (unsigned char)i;
uchar_array_perf_iterate[i] = (unsigned char)i;
}
vpImage<unsigned char> I_perf_lut(uchar_array_perf_lut, height, width);
vpImage<unsigned char> I_perf_iterate(uchar_array_perf_iterate, height, width);
unsigned int nbIterations = 100;
double t1 = vpTime::measureTimeMs();
for (unsigned int cpt = 0; cpt < nbIterations; cpt++) {
vpImageTools::binarise(I_perf_iterate, threshold1, threshold2, value1, value2, value3, false);
}
t1 = vpTime::measureTimeMs() - t1;
std::cout << "Iterate: " << t1 << " ms for " << nbIterations << " iterations." << std::endl;
double t2 = vpTime::measureTimeMs();
for (unsigned int cpt = 0; cpt < nbIterations; cpt++) {
vpImageTools::binarise(I_perf_lut, threshold1, threshold2, value1, value2, value3, true);
}
t2 = vpTime::measureTimeMs() - t2;
std::cout << "LUT: " << t2 << " ms for " << nbIterations << " iterations." << std::endl;
std::cout << "\ntestImageBinarise ok !" << std::endl;
return 0;
}