testImageBinarise.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
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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;
  std::vector<unsigned char> uchar_array(width * height);
  std::vector<double> double_array(width * height);
  std::vector<vpRGBa> rgba_array(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.front(), height, width);
  vpImage<double> I_double(&double_array.front(), height, width);
  vpImage<vpRGBa> I_rgba(&rgba_array.front(), 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;
  std::vector<unsigned char> uchar_array1(width * height);
  std::vector<unsigned char> uchar_array2(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.front(), height, width);
  vpImage<unsigned char> I_uchar2(&uchar_array2.front(), 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;
  std::vector<unsigned char> uchar_array_perf_lut(width * height);
  std::vector<unsigned char> uchar_array_perf_iterate(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.front(), height, width);
  vpImage<unsigned char> I_perf_iterate(&uchar_array_perf_iterate.front(), height, width);

  unsigned int nbIterations = 100;
  vpChrono chrono;
  chrono.start();
  for (unsigned int cpt = 0; cpt < nbIterations; cpt++) {
    vpImageTools::binarise(I_perf_iterate, threshold1, threshold2, value1, value2, value3, false);
  }
  chrono.stop();
  std::cout << "Iterate: " << chrono.getDurationMs() << " ms for " << nbIterations << " iterations." << std::endl;

  chrono.start();
  for (unsigned int cpt = 0; cpt < nbIterations; cpt++) {
    vpImageTools::binarise(I_perf_lut, threshold1, threshold2, value1, value2, value3, true);
  }
  chrono.stop();
  std::cout << "LUT: " << chrono.getDurationMs() << " ms for " << nbIterations << " iterations." << std::endl;

  std::cout << "\ntestImageBinarise ok !" << std::endl;
  return 0;
}