#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x040000)
# include <opencv2/imgproc.hpp>
#endif
#define GETOPTARGS "cdi:th"
namespace
{
void usage(const char *name, const char *badparam, std::string ipath)
{
fprintf(stdout, "\n\
Test vpImageTools::templateMatching().\n\
\n\
SYNOPSIS\n\
%s [-i <VISP_IMAGES directory>] \n\
[-c] [-t] \n\
[-h]\n \
", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <VISP_IMAGES directory> %s\n\
Set VISP_IMAGES input path.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-c \n\
Mouse click.\n\
-t \n\
Perform template matching on cube sequence.\n\
-h\n\
Print the help.\n\n", ipath.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, bool &click,
bool &doTemplateMatching)
{
const char *optarg_;
int c;
switch (c) {
case 'i':
ipath = optarg_;
break;
case 'h':
usage(argv[0], NULL, ipath);
return false;
break;
case 't':
doTemplateMatching = true;
break;
case 'c':
click = true;
break;
case 'd':
break;
default:
usage(argv[0], optarg_, ipath);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
usage(argv[0], NULL, ipath);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
}
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x030000)
{
const int h = 5, w = 5;
I[0][0] = 1; I[0][1] = 2; I[0][2] = 2; I[0][3] = 4; I[0][4] = 1;
I[1][0] = 3; I[1][1] = 4; I[1][2] = 1; I[1][3] = 5; I[1][4] = 2;
I[2][0] = 2; I[2][1] = 3; I[2][2] = 3; I[2][3] = 2; I[2][4] = 4;
I[3][0] = 4; I[3][1] = 1; I[3][2] = 5; I[3][3] = 4; I[3][4] = 6;
I[4][0] = 6; I[4][1] = 3; I[4][2] = 2; I[4][3] = 1; I[4][4] = 3;
std::cout << "I:\n" << I << std::endl;
std::cout << "II:\n" << II << std::endl;
std::cout << "IIsq:\n" << IIsq << std::endl;
cv::Mat mat(h, w, CV_64F);
for (int i = 0; i < h; i++) {
for (int j = 0; j < w; j++) {
mat.at<double>(i,j) = I[i][j];
}
}
cv::Mat sum, sqsum;
cv::integral(mat, sum, sqsum);
std::cout << "mat:\n" << mat << std::endl;
std::cout << "sum:\n" << sum << std::endl;
std::cout << "sqsum:\n" << sqsum << std::endl;
for (int i = 0; i < h; i++) {
for (int j = 0; j < w; j++) {
if ( !
vpMath::equal(II[i][j], sum.at<
double>(i,j), std::numeric_limits<double>::epsilon()) ) {
std::cerr << "Error vpImageTools::integralImage(II), reference: " << std::setprecision(17)
<< sum.at<double>(i,j) << " ; compute: " << II[i][j] << std::endl;
return EXIT_FAILURE;
}
if ( !
vpMath::equal(IIsq[i][j], sqsum.at<
double>(i,j), std::numeric_limits<double>::epsilon()) ) {
std::cerr << "Error vpImageTools::integralImage(IIsq), reference: " << std::setprecision(17)
<< sqsum.at<double>(i,j) << " ; compute: " << IIsq[i][j] << std::endl;
return EXIT_FAILURE;
}
}
}
}
#endif
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string filename;
bool click = false;
bool doTemplateMatching = false;
if (!env_ipath.empty()) {
ipath = env_ipath;
}
if (!getOptions(argc, argv, opt_ipath, click, doTemplateMatching)) {
exit(EXIT_FAILURE);
}
if (!opt_ipath.empty()) {
ipath = opt_ipath;
}
if (!opt_ipath.empty() && !env_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;
}
}
if (opt_ipath.empty() && env_ipath.empty()) {
usage(argv[0], NULL, ipath);
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);
}
if (doTemplateMatching) {
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
#if defined(VISP_HAVE_X11)
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#endif
d.
init(I, 0, 0,
"Image");
std::vector<double> benchmark_vec;
bool quit = false;
while (!reader.
end() && !quit) {
std::stringstream ss;
const unsigned int step_u = 5, step_v = 5;
double max_correlation = -1.0;
I_score.
getMinMaxLoc(NULL, &max_loc, NULL, &max_correlation);
benchmark_vec.push_back(t_proc);
ss.str("");
ss << "Template matching: " << t_proc << " ms";
ss.str("");
ss << "Max correlation: " << max_correlation;
switch (button) {
quit = !click;
break;
click = !click;
break;
default:
break;
}
}
}
if (!benchmark_vec.empty()) {
std::cout <<
"Processing time, Mean: " <<
vpMath::getMean(benchmark_vec) <<
" ms ; Median: " }
#endif
} else {
const unsigned int step_u = 5, step_v = 5;
std::cout << "Template matching: " << t << " ms" << std::endl;
std::cout << "Template matching (gold): " << t_gold << " ms" << std::endl;
for (
unsigned int i = 0; i < I_score.
getHeight(); i++) {
for (
unsigned int j = 0; j < I_score.
getWidth(); j++) {
std::cerr << "Issue with template matching, gold: " << std::setprecision(17) << I_score_gold[i][j]
<< " ; compute: " << I_score[i][j] << std::endl;
return EXIT_FAILURE;
}
}
}
}
std::cerr << "\nCatch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}