Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
testImageMorphology.cpp

Test vpImageMorphology functions.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 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 for vpImageMorphology functions.
*
* Authors:
* Souriya Trinh
*
*****************************************************************************/
#include <visp3/core/vpImageMorphology.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:n:h"
/*
Print the program options.
\param name : Program name.
\param badparam : Bad parameter name.
\param ipath: Input image path.
\param nbiter : Iteration number.
*/
void usage(const char *name, const char *badparam, std::string ipath, int nbiter)
{
fprintf(stdout, "\n\
Test vpImageMorphology functions.\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-n <nb benchmark 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\
and \"Klimt/Klimt.ppm\" images.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
-n <nb benchmark iterations> %d\n\
Set the number of benchmark iterations.\n\
\n\
-h\n\
Print the help.\n\n", ipath.c_str(), nbiter);
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, int &nbIterations)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'i':
ipath = optarg_;
break;
case 'n':
nbIterations = atoi(optarg_);
break;
case 'h':
usage(argv[0], NULL, ipath, nbIterations);
return false;
break;
case 'c':
case 'd':
break;
default:
usage(argv[0], optarg_, ipath, nbIterations);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, ipath, nbIterations);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
void printMatrix(const vpImage<unsigned char> &I, const std::string &name)
{
std::cout << "\n" << name << ":" << 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;
}
}
// Erosion in the general case on grayscale images
void generalErosion(vpImage<unsigned char> &I,
vpImageMorphology::vpConnexityType connexity = vpImageMorphology::CONNEXITY_4)
{
if (I.getSize() == 0) {
std::cerr << "Input image is empty!" << std::endl;
return;
}
const unsigned char null_value = 255;
vpImage<unsigned char> J(I.getHeight() + 2, I.getWidth() + 2);
// Copy I to J and add border
for (unsigned int i = 0; i < J.getHeight(); i++) {
if (i == 0 || i == J.getHeight() - 1) {
for (unsigned int j = 0; j < J.getWidth(); j++) {
J[i][j] = null_value;
}
} else {
J[i][0] = null_value;
memcpy(J[i] + 1, I[i - 1], sizeof(unsigned char) * I.getWidth());
J[i][J.getWidth() - 1] = null_value;
}
}
if (connexity == vpImageMorphology::CONNEXITY_4) {
unsigned int offset[5] = {1, J.getWidth(), J.getWidth() + 1, J.getWidth() + 2, J.getWidth() * 2 + 1};
for (unsigned int i = 0; i < I.getHeight(); i++) {
unsigned char *ptr_curr_J = J.bitmap + i * J.getWidth();
unsigned char *ptr_curr_I = I.bitmap + i * I.getWidth();
for (unsigned int j = 0; j < I.getWidth(); j++) {
unsigned char min_value = null_value;
for (int k = 0; k < 5; k++) {
min_value = (std::min)(min_value, *(ptr_curr_J + j + offset[k]));
}
*(ptr_curr_I + j) = min_value;
}
}
} else {
// CONNEXITY_8
unsigned int offset[9] = {0,
1,
2,
J.getWidth(),
J.getWidth() + 1,
J.getWidth() + 2,
J.getWidth() * 2,
J.getWidth() * 2 + 1,
J.getWidth() * 2 + 2};
for (unsigned int i = 0; i < I.getHeight(); i++) {
unsigned char *ptr_curr_J = J.bitmap + i * J.getWidth();
unsigned char *ptr_curr_I = I.bitmap + i * I.getWidth();
for (unsigned int j = 0; j < I.getWidth(); j++) {
unsigned char min_value = null_value;
for (int k = 0; k < 9; k++) {
min_value = (std::min)(min_value, *(ptr_curr_J + j + offset[k]));
}
*(ptr_curr_I + j) = min_value;
}
}
}
}
// Dilatation in the general case on grayscale images
void generalDilatation(vpImage<unsigned char> &I,
vpImageMorphology::vpConnexityType connexity = vpImageMorphology::CONNEXITY_4)
{
if (I.getSize() == 0) {
std::cerr << "Input image is empty!" << std::endl;
return;
}
const unsigned char null_value = 0;
vpImage<unsigned char> J(I.getHeight() + 2, I.getWidth() + 2);
// Copy I to J and add border
for (unsigned int i = 0; i < J.getHeight(); i++) {
if (i == 0 || i == J.getHeight() - 1) {
for (unsigned int j = 0; j < J.getWidth(); j++) {
J[i][j] = null_value;
}
} else {
J[i][0] = null_value;
memcpy(J[i] + 1, I[i - 1], sizeof(unsigned char) * I.getWidth());
J[i][J.getWidth() - 1] = null_value;
}
}
if (connexity == vpImageMorphology::CONNEXITY_4) {
unsigned int offset[5] = {1, J.getWidth(), J.getWidth() + 1, J.getWidth() + 2, J.getWidth() * 2 + 1};
for (unsigned int i = 0; i < I.getHeight(); i++) {
unsigned char *ptr_curr_J = J.bitmap + i * J.getWidth();
unsigned char *ptr_curr_I = I.bitmap + i * I.getWidth();
for (unsigned int j = 0; j < I.getWidth(); j++) {
unsigned char max_value = null_value;
for (int k = 0; k < 5; k++) {
max_value = (std::max)(max_value, *(ptr_curr_J + j + offset[k]));
}
*(ptr_curr_I + j) = max_value;
}
}
} else {
// CONNEXITY_8
unsigned int offset[9] = {0,
1,
2,
J.getWidth(),
J.getWidth() + 1,
J.getWidth() + 2,
J.getWidth() * 2,
J.getWidth() * 2 + 1,
J.getWidth() * 2 + 2};
for (unsigned int i = 0; i < I.getHeight(); i++) {
unsigned char *ptr_curr_J = J.bitmap + i * J.getWidth();
unsigned char *ptr_curr_I = I.bitmap + i * I.getWidth();
for (unsigned int j = 0; j < I.getWidth(); j++) {
unsigned char max_value = null_value;
for (int k = 0; k < 9; k++) {
max_value = (std::max)(max_value, *(ptr_curr_J + j + offset[k]));
}
*(ptr_curr_I + j) = max_value;
}
}
}
}
// Generate a magic square matrix to get a consistent grayscale image
void magicSquare(vpImage<unsigned char> &magic_square, const int N)
{
magic_square.resize((unsigned int)N, (unsigned int)N, 0);
int n = 1;
int i = 0, j = N / 2;
while (n <= N * N) {
magic_square[i][j] = vpMath::saturate<unsigned char>(n);
n++;
int newi = vpMath::modulo((i - 1), N), newj = vpMath::modulo((j + 1), N);
if (magic_square[newi][newj]) {
i++;
} else {
i = newi;
j = newj;
}
}
}
int main(int argc, const char **argv)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string filename;
int nbIterations = 100;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
env_ipath = vpIoTools::getViSPImagesDataPath();
// Set the default input path
if (!env_ipath.empty())
ipath = env_ipath;
// Read the command line options
if (getOptions(argc, argv, opt_ipath, nbIterations) == false) {
exit(EXIT_FAILURE);
}
// Get the option values
if (!opt_ipath.empty())
ipath = opt_ipath;
// 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, 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);
}
// Create a binary image
unsigned char image_data[8 * 16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0,
0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1,
1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0,
0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1,
0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0};
vpImage<unsigned char> I(image_data, 8, 16, true);
printMatrix(I, "I");
// Regular code
// Dilatation
vpImage<unsigned char> I_dilatation1 = I;
vpImage<unsigned char> I_dilatation2 = I;
vpImageMorphology::dilatation(I_dilatation1, (unsigned char)1, (unsigned char)0, vpImageMorphology::CONNEXITY_4);
vpImageMorphology::dilatation(I_dilatation2, (unsigned char)1, (unsigned char)0, vpImageMorphology::CONNEXITY_8);
printMatrix(I_dilatation1, "I_dilatation1");
printMatrix(I_dilatation2, "I_dilatation2");
// Erosion
vpImage<unsigned char> I_erosion1 = I_dilatation1;
vpImage<unsigned char> I_erosion2 = I_dilatation2;
vpImageMorphology::erosion(I_erosion1, (unsigned char)1, (unsigned char)0, vpImageMorphology::CONNEXITY_4);
vpImageMorphology::erosion(I_erosion2, (unsigned char)1, (unsigned char)0, vpImageMorphology::CONNEXITY_8);
printMatrix(I_erosion1, "I_erosion1");
printMatrix(I_erosion2, "I_erosion2");
// SSE code
// Dilatation
vpImage<unsigned char> I_dilatation1_sse = I;
vpImage<unsigned char> I_dilatation2_sse = I;
vpImageMorphology::dilatation(I_dilatation1_sse, vpImageMorphology::CONNEXITY_4);
vpImageMorphology::dilatation(I_dilatation2_sse, vpImageMorphology::CONNEXITY_8);
printMatrix(I_dilatation1_sse, "I_dilatation1_sse");
printMatrix(I_dilatation2_sse, "I_dilatation2_sse");
std::cout << "\n(I_dilatation1 == I_dilatation1_sse)? " << (I_dilatation1 == I_dilatation1_sse) << std::endl;
std::cout << "(I_dilatation2 == I_dilatation2_sse)? " << (I_dilatation2 == I_dilatation2_sse) << std::endl;
if ((I_dilatation1 != I_dilatation1_sse)) {
throw vpException(vpException::fatalError, "(I_dilatation1 != I_dilatation1_sse)");
}
if ((I_dilatation2 != I_dilatation2_sse)) {
throw vpException(vpException::fatalError, "(I_dilatation2 != I_dilatation2_sse)");
}
// Erosion
vpImage<unsigned char> I_erosion1_sse = I_dilatation1_sse;
vpImage<unsigned char> I_erosion2_sse = I_dilatation2_sse;
vpImageMorphology::erosion(I_erosion1_sse, vpImageMorphology::CONNEXITY_4);
vpImageMorphology::erosion(I_erosion2_sse, vpImageMorphology::CONNEXITY_8);
printMatrix(I_erosion1_sse, "I_erosion1_sse");
printMatrix(I_erosion2_sse, "I_erosion2_sse");
std::cout << "\n(I_erosion1 == I_erosion1_sse)? " << (I_erosion1 == I_erosion1_sse) << std::endl;
std::cout << "(I_erosion2 == I_erosion2_sse)? " << (I_erosion2 == I_erosion2_sse) << std::endl;
if ((I_erosion1 != I_erosion1_sse)) {
throw vpException(vpException::fatalError, "(I_erosion1 != I_erosion1_sse)");
}
if ((I_erosion2 != I_erosion2_sse)) {
throw vpException(vpException::fatalError, "(I_erosion2 != I_erosion2_sse)");
}
// Check results against Matlab
unsigned char image_data_dilated1[8 * 16] = {
0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0,
0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1,
1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1,
1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1};
vpImage<unsigned char> I_check_dilated1(image_data_dilated1, 8, 16, true);
if (I_check_dilated1 != I_dilatation1_sse) {
throw vpException(vpException::fatalError, "(I_check_dilated1 != I_dilatation1_sse)");
}
unsigned char image_data_dilated2[8 * 16] = {
0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1,
0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1,
1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1};
vpImage<unsigned char> I_check_dilated2(image_data_dilated2, 8, 16, true);
if (I_check_dilated2 != I_dilatation2_sse) {
throw vpException(vpException::fatalError, "(I_check_dilated2 != I_dilatation2_sse)");
}
unsigned char image_data_eroded1[8 * 16] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0};
vpImage<unsigned char> I_check_eroded1(image_data_eroded1, 8, 16, true);
if (I_check_eroded1 != I_erosion1_sse) {
throw vpException(vpException::fatalError, "(I_check_eroded1 != I_erosion1_sse)");
}
unsigned char image_data_eroded2[8 * 16] = {
0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1,
0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1,
1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1};
vpImage<unsigned char> I_check_eroded2(image_data_eroded2, 8, 16, true);
if (I_check_eroded2 != I_erosion2_sse) {
throw vpException(vpException::fatalError, "(I_check_eroded2 != I_erosion2_sse)");
}
// Morphology on grayscale images
vpImage<unsigned char> I_magic_square;
magicSquare(I_magic_square, 17);
printMatrix(I_magic_square, "I_magic_square");
// Dilatation CONNEXITY_4 grayscale
vpImage<unsigned char> I_magic_square_dilatation1 = I_magic_square;
vpImage<unsigned char> I_magic_square_dilatation1_sse = I_magic_square;
generalDilatation(I_magic_square_dilatation1, vpImageMorphology::CONNEXITY_4);
vpImageMorphology::dilatation(I_magic_square_dilatation1_sse, vpImageMorphology::CONNEXITY_4);
if ((I_magic_square_dilatation1 != I_magic_square_dilatation1_sse)) {
throw vpException(vpException::fatalError, "(I_magic_square_dilatation1 != I_magic_square_dilatation1_sse)");
}
// Dilatation CONNEXITY_8 grayscale
vpImage<unsigned char> I_magic_square_dilatation2 = I_magic_square;
vpImage<unsigned char> I_magic_square_dilatation2_sse = I_magic_square;
generalDilatation(I_magic_square_dilatation2, vpImageMorphology::CONNEXITY_8);
vpImageMorphology::dilatation(I_magic_square_dilatation2_sse, vpImageMorphology::CONNEXITY_8);
if ((I_magic_square_dilatation2 != I_magic_square_dilatation2_sse)) {
throw vpException(vpException::fatalError, "(I_magic_square_dilatation2 != I_magic_square_dilatation2_sse)");
}
// Erosion CONNEXITY_4 grayscale
vpImage<unsigned char> I_magic_square_erosion1 = I_magic_square_dilatation1;
vpImage<unsigned char> I_magic_square_erosion1_sse = I_magic_square_dilatation1_sse;
generalErosion(I_magic_square_erosion1, vpImageMorphology::CONNEXITY_4);
vpImageMorphology::erosion(I_magic_square_erosion1_sse, vpImageMorphology::CONNEXITY_4);
if ((I_magic_square_erosion1 != I_magic_square_erosion1_sse)) {
throw vpException(vpException::fatalError, "(I_magic_square_erosion1 != I_magic_square_erosion1_sse)");
}
// Dilatation CONNEXITY_8 grayscale
vpImage<unsigned char> I_magic_square_erosion2 = I_magic_square_dilatation2;
vpImage<unsigned char> I_magic_square_erosion2_sse = I_magic_square_dilatation2_sse;
generalErosion(I_magic_square_erosion2, vpImageMorphology::CONNEXITY_8);
vpImageMorphology::erosion(I_magic_square_erosion2_sse, vpImageMorphology::CONNEXITY_8);
if ((I_magic_square_erosion2 != I_magic_square_erosion2_sse)) {
throw vpException(vpException::fatalError, "(I_magic_square_erosion2 != I_magic_square_erosion2_sse)");
}
// Check results against Matlab (grayscale)
unsigned char image_data2_dilated1[17 * 17] = {
174, 193, 212, 231, 250, 255, 255, 255, 255, 39, 58, 77, 96, 115, 134, 153, 154, 192, 211, 230, 249,
255, 255, 255, 255, 38, 57, 76, 95, 114, 133, 152, 170, 172, 210, 229, 248, 255, 255, 255, 255, 37,
56, 75, 94, 113, 132, 151, 170, 172, 190, 228, 247, 255, 255, 255, 255, 36, 55, 74, 93, 112, 131,
150, 169, 187, 190, 208, 246, 255, 255, 255, 255, 51, 54, 73, 92, 111, 130, 149, 168, 187, 189, 208,
226, 255, 255, 255, 255, 51, 53, 72, 91, 110, 129, 148, 167, 186, 204, 207, 226, 244, 255, 255, 255,
50, 68, 71, 90, 109, 128, 147, 166, 185, 204, 206, 225, 244, 255, 255, 255, 49, 68, 70, 89, 108,
127, 146, 165, 184, 203, 221, 224, 243, 255, 255, 255, 48, 67, 85, 88, 107, 126, 145, 164, 183, 202,
221, 223, 242, 255, 255, 255, 47, 66, 85, 87, 106, 125, 144, 163, 182, 201, 220, 238, 241, 255, 255,
255, 255, 65, 84, 102, 105, 124, 143, 162, 181, 200, 219, 238, 240, 255, 255, 255, 255, 45, 83, 102,
104, 123, 142, 161, 180, 199, 218, 237, 255, 255, 255, 255, 255, 45, 63, 101, 119, 122, 141, 160, 179,
198, 217, 236, 255, 255, 255, 255, 255, 44, 63, 81, 119, 121, 140, 159, 178, 197, 216, 235, 254, 255,
255, 255, 255, 43, 62, 81, 99, 136, 139, 158, 177, 196, 215, 234, 253, 255, 255, 255, 255, 42, 61,
80, 99, 117, 138, 157, 176, 195, 214, 233, 252, 255, 255, 255, 255, 41, 60, 79, 98, 117, 135, 156,
175, 194, 213, 232, 251, 255, 255, 255, 255, 40, 59, 78, 97, 116, 135, 135};
vpImage<unsigned char> I2_check_dilated1(image_data2_dilated1, 17, 17, true);
if (I2_check_dilated1 != I_magic_square_dilatation1_sse) {
throw vpException(vpException::fatalError, "(I2_check_dilated1 != I_magic_square_dilatation1_sse)");
}
unsigned char image_data2_dilated2[17 * 17] = {
192, 211, 230, 249, 255, 255, 255, 255, 255, 57, 76, 95, 114, 133, 152, 154, 154, 210, 229, 248, 255,
255, 255, 255, 255, 255, 75, 94, 113, 132, 151, 170, 172, 172, 228, 247, 255, 255, 255, 255, 255, 255,
74, 93, 112, 131, 150, 169, 171, 190, 190, 246, 255, 255, 255, 255, 255, 255, 73, 92, 111, 130, 149,
168, 187, 189, 208, 208, 255, 255, 255, 255, 255, 255, 72, 91, 110, 129, 148, 167, 186, 188, 207, 226,
226, 255, 255, 255, 255, 255, 71, 90, 109, 128, 147, 166, 185, 204, 206, 225, 244, 244, 255, 255, 255,
255, 70, 89, 108, 127, 146, 165, 184, 203, 205, 224, 243, 255, 255, 255, 255, 255, 69, 88, 107, 126,
145, 164, 183, 202, 221, 223, 242, 255, 255, 255, 255, 255, 85, 87, 106, 125, 144, 163, 182, 201, 220,
222, 241, 255, 255, 255, 255, 65, 84, 86, 105, 124, 143, 162, 181, 200, 219, 238, 240, 255, 255, 255,
255, 255, 83, 102, 104, 123, 142, 161, 180, 199, 218, 237, 239, 255, 255, 255, 255, 255, 255, 101, 103,
122, 141, 160, 179, 198, 217, 236, 255, 255, 255, 255, 255, 255, 255, 63, 119, 121, 140, 159, 178, 197,
216, 235, 254, 255, 255, 255, 255, 255, 255, 81, 81, 120, 139, 158, 177, 196, 215, 234, 253, 255, 255,
255, 255, 255, 255, 80, 99, 99, 138, 157, 176, 195, 214, 233, 252, 255, 255, 255, 255, 255, 255, 79,
98, 117, 117, 156, 175, 194, 213, 232, 251, 255, 255, 255, 255, 255, 255, 78, 97, 116, 135, 135, 156,
175, 194, 213, 232, 251, 255, 255, 255, 255, 255, 59, 78, 97, 116, 135, 135};
vpImage<unsigned char> I2_check_dilated2(image_data2_dilated2, 17, 17, true);
if (I2_check_dilated2 != I_magic_square_dilatation2_sse) {
throw vpException(vpException::fatalError, "(I2_check_dilated2 != I_magic_square_dilatation2_sse)");
}
unsigned char image_data2_eroded1[17 * 17] = {
174, 174, 193, 212, 231, 250, 255, 255, 38, 39, 39, 58, 77, 96, 115, 134, 153, 174, 192, 211, 230,
249, 255, 255, 37, 38, 38, 57, 76, 95, 114, 133, 152, 154, 192, 210, 229, 248, 255, 255, 36, 37,
37, 56, 75, 94, 113, 132, 151, 170, 172, 210, 228, 247, 255, 255, 36, 36, 36, 55, 74, 93, 112,
131, 150, 169, 172, 190, 228, 246, 255, 255, 51, 51, 36, 54, 73, 92, 111, 130, 149, 168, 187, 189,
208, 246, 255, 255, 50, 51, 51, 53, 72, 91, 110, 129, 148, 167, 186, 189, 207, 226, 255, 255, 49,
50, 50, 53, 71, 90, 109, 128, 147, 166, 185, 204, 206, 225, 244, 255, 48, 49, 49, 68, 70, 89,
108, 127, 146, 165, 184, 203, 206, 224, 243, 255, 47, 48, 48, 67, 70, 88, 107, 126, 145, 164, 183,
202, 221, 223, 242, 255, 255, 47, 47, 66, 85, 87, 106, 125, 144, 163, 182, 201, 220, 223, 241, 255,
255, 45, 47, 65, 84, 87, 105, 124, 143, 162, 181, 200, 219, 238, 240, 255, 255, 45, 45, 65, 83,
102, 104, 123, 142, 161, 180, 199, 218, 237, 240, 255, 255, 44, 45, 45, 83, 101, 104, 122, 141, 160,
179, 198, 217, 236, 255, 255, 255, 43, 44, 44, 63, 101, 119, 121, 140, 159, 178, 197, 216, 235, 254,
255, 255, 42, 43, 43, 62, 81, 119, 121, 139, 158, 177, 196, 215, 234, 253, 255, 255, 41, 42, 42,
61, 80, 99, 136, 138, 157, 176, 195, 214, 233, 252, 255, 255, 40, 41, 41, 60, 79, 98, 117, 138,
156, 175, 194, 213, 232, 251, 255, 255, 40, 40, 40, 59, 78, 97, 116, 135};
vpImage<unsigned char> I2_check_eroded1(image_data2_eroded1, 17, 17, true);
if (I2_check_eroded1 != I_magic_square_erosion1_sse) {
printMatrix(I_magic_square_erosion1_sse, "I_magic_square_erosion1_sse");
throw vpException(vpException::fatalError, "(I2_check_eroded1 != I_magic_square_erosion1_sse)");
}
unsigned char image_data2_eroded2[17 * 17] = {
192, 192, 211, 230, 249, 255, 255, 255, 57, 57, 57, 76, 95, 114, 133, 152, 154, 192, 192, 211, 230,
249, 255, 255, 74, 57, 57, 57, 76, 95, 114, 133, 152, 154, 210, 210, 229, 248, 255, 255, 73, 73,
73, 74, 75, 94, 113, 132, 151, 170, 172, 228, 228, 247, 255, 255, 72, 72, 72, 73, 74, 93, 112,
131, 150, 169, 171, 190, 246, 246, 255, 255, 71, 71, 71, 72, 73, 92, 111, 130, 149, 168, 187, 189,
208, 255, 255, 255, 70, 70, 70, 71, 72, 91, 110, 129, 148, 167, 186, 188, 207, 226, 255, 255, 69,
69, 69, 70, 71, 90, 109, 128, 147, 166, 185, 204, 206, 225, 244, 255, 85, 69, 69, 69, 70, 89,
108, 127, 146, 165, 184, 203, 205, 224, 243, 255, 65, 65, 69, 69, 69, 88, 107, 126, 145, 164, 183,
202, 221, 223, 242, 255, 255, 65, 65, 84, 85, 87, 106, 125, 144, 163, 182, 201, 220, 222, 241, 255,
255, 255, 65, 65, 84, 86, 105, 124, 143, 162, 181, 200, 219, 238, 240, 255, 255, 63, 63, 83, 83,
102, 104, 123, 142, 161, 180, 199, 218, 237, 239, 255, 255, 81, 63, 63, 101, 101, 103, 122, 141, 160,
179, 198, 217, 236, 255, 255, 255, 80, 80, 63, 63, 119, 119, 121, 140, 159, 178, 197, 216, 235, 254,
255, 255, 79, 79, 79, 80, 81, 120, 120, 139, 158, 177, 196, 215, 234, 253, 255, 255, 78, 78, 78,
79, 80, 99, 138, 138, 157, 176, 195, 214, 233, 252, 255, 255, 59, 59, 59, 78, 79, 98, 117, 156,
156, 175, 194, 213, 232, 251, 255, 255, 255, 59, 59, 59, 78, 97, 116, 135};
vpImage<unsigned char> I2_check_eroded2(image_data2_eroded2, 17, 17, true);
if (I2_check_eroded2 != I_magic_square_erosion2_sse) {
throw vpException(vpException::fatalError, "(I2_check_eroded2 != I_magic_square_erosion2_sse)");
}
std::cout << std::endl;
vpImage<unsigned char> I_Klimt;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
vpImageIo::read(I_Klimt, filename);
// Benchmark on binarized image (compare regular code with SSE
// implementation)
vpImage<unsigned char> I_Klimt_binarized = I_Klimt;
vpImageTools::binarise(I_Klimt_binarized, (unsigned char)127, (unsigned char)127, (unsigned char)0,
(unsigned char)1, (unsigned char)1, true);
// Dilatation CONNEXITY_4
vpImage<unsigned char> I_Klimt_binarized_dilatation1 = I_Klimt_binarized;
vpImage<unsigned char> I_Klimt_binarized_dilatation1_sse = I_Klimt_binarized;
double t = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::dilatation(I_Klimt_binarized_dilatation1, (unsigned char)1, (unsigned char)0,
vpImageMorphology::CONNEXITY_4);
}
t = vpTime::measureTimeMs() - t;
double t_sse = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::dilatation(I_Klimt_binarized_dilatation1_sse, vpImageMorphology::CONNEXITY_4);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "(I_Klimt_binarized_dilatation1 == "
"I_Klimt_binarized_dilatation1_sse)? "
<< (I_Klimt_binarized_dilatation1 == I_Klimt_binarized_dilatation1_sse) << " ; t=" << t
<< " ms ; t_sse=" << t_sse << " ms"
<< " ; speed-up=" << (t / t_sse) << "X" << std::endl;
// Dilatation CONNEXITY_8
vpImage<unsigned char> I_Klimt_binarized_dilatation2 = I_Klimt_binarized;
vpImage<unsigned char> I_Klimt_binarized_dilatation2_sse = I_Klimt_binarized;
t = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::dilatation(I_Klimt_binarized_dilatation2, (unsigned char)1, (unsigned char)0,
vpImageMorphology::CONNEXITY_8);
}
t = vpTime::measureTimeMs() - t;
t_sse = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::dilatation(I_Klimt_binarized_dilatation2_sse, vpImageMorphology::CONNEXITY_8);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "(I_Klimt_binarized_dilatation2 == "
"I_Klimt_binarized_dilatation2_sse)? "
<< (I_Klimt_binarized_dilatation2 == I_Klimt_binarized_dilatation2_sse) << " ; t=" << t
<< " ms ; t_sse=" << t_sse << " ms"
<< " ; speed-up=" << (t / t_sse) << "X" << std::endl;
// Erosion CONNEXITY_4
vpImage<unsigned char> I_Klimt_binarized_erosion1 = I_Klimt_binarized;
vpImage<unsigned char> I_Klimt_binarized_erosion1_sse = I_Klimt_binarized;
t = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::erosion(I_Klimt_binarized_erosion1, (unsigned char)1, (unsigned char)0,
vpImageMorphology::CONNEXITY_4);
}
t = vpTime::measureTimeMs() - t;
t_sse = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::erosion(I_Klimt_binarized_erosion1_sse, vpImageMorphology::CONNEXITY_4);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "(I_Klimt_binarized_erosion1 == I_Klimt_binarized_erosion1_sse)? "
<< (I_Klimt_binarized_erosion1 == I_Klimt_binarized_erosion1_sse) << " ; t=" << t
<< " ms ; t_sse=" << t_sse << " ms"
<< " ; speed-up=" << (t / t_sse) << "X" << std::endl;
// Erosion CONNEXITY_8
vpImage<unsigned char> I_Klimt_binarized_erosion2 = I_Klimt_binarized;
vpImage<unsigned char> I_Klimt_binarized_erosion2_sse = I_Klimt_binarized;
t = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::erosion(I_Klimt_binarized_erosion2, (unsigned char)1, (unsigned char)0,
vpImageMorphology::CONNEXITY_8);
}
t = vpTime::measureTimeMs() - t;
t_sse = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::erosion(I_Klimt_binarized_erosion2_sse, vpImageMorphology::CONNEXITY_8);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "(I_Klimt_binarized_erosion2 == I_Klimt_binarized_erosion2_sse)? "
<< (I_Klimt_binarized_erosion2 == I_Klimt_binarized_erosion2_sse) << " ; t=" << t
<< " ms ; t_sse=" << t_sse << " ms"
<< " ; speed-up=" << (t / t_sse) << "X" << std::endl;
// Benchmark on grayscale images (compare regular code with SSE
// implementation)
// Dilatation CONNEXITY_4 grayscale
vpImage<unsigned char> I_Klimt_dilatation1 = I_Klimt;
vpImage<unsigned char> I_Klimt_dilatation1_sse = I_Klimt;
t = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
generalDilatation(I_Klimt_dilatation1, vpImageMorphology::CONNEXITY_4);
}
t = vpTime::measureTimeMs() - t;
t_sse = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::dilatation(I_Klimt_dilatation1_sse, vpImageMorphology::CONNEXITY_4);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "(I_Klimt_dilatation1 == I_Klimt_dilatation1_sse)? "
<< (I_Klimt_dilatation1 == I_Klimt_dilatation1_sse) << " ; t=" << t << " ms ; t_sse=" << t_sse << " ms"
<< " ; speed-up=" << (t / t_sse) << "X" << std::endl;
// Dilatation CONNEXITY_8 grayscale
vpImage<unsigned char> I_Klimt_dilatation2 = I_Klimt;
vpImage<unsigned char> I_Klimt_dilatation2_sse = I_Klimt;
t = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
generalDilatation(I_Klimt_dilatation2, vpImageMorphology::CONNEXITY_8);
}
t = vpTime::measureTimeMs() - t;
t_sse = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::dilatation(I_Klimt_dilatation2_sse, vpImageMorphology::CONNEXITY_8);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "(I_Klimt_dilatation2 == I_Klimt_dilatation2_sse)? "
<< (I_Klimt_dilatation2 == I_Klimt_dilatation2_sse) << " ; t=" << t << " ms ; t_sse=" << t_sse << " ms"
<< " ; speed-up=" << (t / t_sse) << "X" << std::endl;
// Erosion CONNEXITY_4 grayscale
vpImage<unsigned char> I_Klimt_erosion1 = I_Klimt;
vpImage<unsigned char> I_Klimt_erosion1_sse = I_Klimt;
t = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
generalErosion(I_Klimt_erosion1, vpImageMorphology::CONNEXITY_4);
}
t = vpTime::measureTimeMs() - t;
t_sse = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::erosion(I_Klimt_erosion1_sse, vpImageMorphology::CONNEXITY_4);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "(I_Klimt_erosion1 == I_Klimt_erosion1_sse)? " << (I_Klimt_erosion1 == I_Klimt_erosion1_sse)
<< " ; t=" << t << " ms ; t_sse=" << t_sse << " ms"
<< " ; speed-up=" << (t / t_sse) << "X" << std::endl;
// Erosion CONNEXITY_8 grayscale
vpImage<unsigned char> I_Klimt_erosion2 = I_Klimt;
vpImage<unsigned char> I_Klimt_erosion2_sse = I_Klimt;
t = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
generalErosion(I_Klimt_erosion2, vpImageMorphology::CONNEXITY_8);
}
t = vpTime::measureTimeMs() - t;
t_sse = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
vpImageMorphology::erosion(I_Klimt_erosion2_sse, vpImageMorphology::CONNEXITY_8);
}
t_sse = vpTime::measureTimeMs() - t_sse;
std::cout << "(I_Klimt_erosion2 == I_Klimt_erosion2_sse)? " << (I_Klimt_erosion2 == I_Klimt_erosion2_sse)
<< " ; t=" << t << " ms ; t_sse=" << t_sse << " ms"
<< " ; speed-up=" << (t / t_sse) << "X" << std::endl;
// Compare with OpenCV
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
std::cout << std::endl;
cv::Mat cross_SE = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3, 3));
cv::Mat rect_SE = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3));
// Dilatation CONNEXITY_4 grayscale
cv::Mat matImg_dilatation1;
vpImageConvert::convert(I_Klimt, matImg_dilatation1);
double t_opencv = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
cv::morphologyEx(matImg_dilatation1, matImg_dilatation1, cv::MORPH_DILATE, cross_SE);
}
t_opencv = vpTime::measureTimeMs() - t_opencv;
vpImage<unsigned char> I_matImg_dilatation1;
vpImageConvert::convert(matImg_dilatation1, I_matImg_dilatation1);
std::cout << "(I_matImg_dilatation1 == I_Klimt_dilatation1_sse)? "
<< (I_matImg_dilatation1 == I_Klimt_dilatation1_sse) << " ; t_opencv=" << t_opencv << " ms" << std::endl;
// Dilatation CONNEXITY_8 grayscale
cv::Mat matImg_dilatation2;
vpImageConvert::convert(I_Klimt, matImg_dilatation2);
t_opencv = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
cv::morphologyEx(matImg_dilatation2, matImg_dilatation2, cv::MORPH_DILATE, rect_SE);
}
t_opencv = vpTime::measureTimeMs() - t_opencv;
vpImage<unsigned char> I_matImg_dilatation2;
vpImageConvert::convert(matImg_dilatation2, I_matImg_dilatation2);
std::cout << "(I_matImg_dilatation2 == I_Klimt_dilatation2_sse)? "
<< (I_matImg_dilatation2 == I_Klimt_dilatation2_sse) << " ; t_opencv=" << t_opencv << " ms" << std::endl;
// Erosion CONNEXITY_4 grayscale
cv::Mat matImg_erosion1;
vpImageConvert::convert(I_Klimt, matImg_erosion1);
t_opencv = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
cv::morphologyEx(matImg_erosion1, matImg_erosion1, cv::MORPH_ERODE, cross_SE);
}
t_opencv = vpTime::measureTimeMs() - t_opencv;
vpImage<unsigned char> I_matImg_erosion1;
vpImageConvert::convert(matImg_erosion1, I_matImg_erosion1);
std::cout << "(I_matImg_erosion1 == I_Klimt_erosion1_sse)? " << (I_matImg_erosion1 == I_Klimt_erosion1_sse)
<< " ; t_opencv=" << t_opencv << " ms" << std::endl;
// Erosion CONNEXITY_8 grayscale
cv::Mat matImg_erosion2;
vpImageConvert::convert(I_Klimt, matImg_erosion2);
t_opencv = vpTime::measureTimeMs();
for (int cpt = 0; cpt < nbIterations; cpt++) {
cv::morphologyEx(matImg_erosion2, matImg_erosion2, cv::MORPH_ERODE, rect_SE);
}
t_opencv = vpTime::measureTimeMs() - t_opencv;
vpImage<unsigned char> I_matImg_erosion2;
vpImageConvert::convert(matImg_erosion2, I_matImg_erosion2);
std::cout << "(I_matImg_erosion2 == I_Klimt_erosion2_sse)? " << (I_matImg_erosion2 == I_Klimt_erosion2_sse)
<< " ; t_opencv=" << t_opencv << " ms" << std::endl;
#endif
} catch (const vpException &e) {
std::cout << "\nCatch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
std::cout << "\nTest of morphology erosion / dilatation functions are OK!" << std::endl;
return EXIT_SUCCESS;
}