Visual Servoing Platform  version 3.4.0
testImageTemplateMatching.cpp

Test vpImageTools::templateMatching().

/****************************************************************************
*
* 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 vpImageTools::templateMatching().
*
*****************************************************************************/
#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
// List of allowed command line options
#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;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
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)) {
// standalone param or error
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;
vpImage<unsigned char> I(h, w);
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;
vpImage<double> II, IIsq;
vpImageTools::integralImage(I, II, IIsq);
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;
// 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, click, doTemplateMatching)) {
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() && !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;
}
}
// Test if an input path is set
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);
}
//
// Here starts really the test
//
// Load cube sequence
filename = vpIoTools::createFilePath(ipath, "mbt/cube/image%04d.pgm");
vpVideoReader reader;
reader.setFileName(filename);
vpImage<unsigned char> I, I_template;
reader.open(I);
vpRect template_roi( vpImagePoint(201, 310), vpImagePoint(201+152-1, 310+138-1) );
vpImageTools::crop(I, template_roi, I_template);
if (doTemplateMatching) {
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
#if defined(VISP_HAVE_X11)
vpDisplayX d;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV d;
#endif
d.init(I, 0, 0, "Image");
vpImage<double> I_score;
std::vector<double> benchmark_vec;
bool quit = false;
while (!reader.end() && !quit) {
reader.acquire(I);
vpDisplay::display(I);
std::stringstream ss;
ss << "Frame: " << reader.getFrameIndex();
vpDisplay::displayText(I, 20, 20, ss.str(), vpColor::red);
//Basic template matching
double t_proc = vpTime::measureTimeMs();
const unsigned int step_u = 5, step_v = 5;
vpImageTools::templateMatching(I, I_template, I_score, step_u, step_v);
vpImagePoint max_loc;
double max_correlation = -1.0;
I_score.getMinMaxLoc(NULL, &max_loc, NULL, &max_correlation);
t_proc = vpTime::measureTimeMs() - t_proc;
benchmark_vec.push_back(t_proc);
ss.str("");
ss << "Template matching: " << t_proc << " ms";
vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
ss.str("");
ss << "Max correlation: " << max_correlation;
vpDisplay::displayText(I, 60, 20, ss.str(), vpColor::red);
vpDisplay::displayRectangle(I, max_loc, I_template.getWidth(), I_template.getHeight(), vpColor::red, false, 1);
vpDisplay::flush(I);
vpMouseButton::vpMouseButtonType button;
if (vpDisplay::getClick(I, button, click)) {
switch (button) {
case vpMouseButton::button1:
quit = !click;
break;
case vpMouseButton::button3:
click = !click;
break;
default:
break;
}
}
}
if (!benchmark_vec.empty()) {
std::cout << "Processing time, Mean: " << vpMath::getMean(benchmark_vec) << " ms ; Median: "
<< vpMath::getMedian(benchmark_vec) << " ms ; Std: "
<< vpMath::getStdev(benchmark_vec) << " ms" << std::endl;
}
#endif
} else {
//ctest case
//Basic template matching
const unsigned int step_u = 5, step_v = 5;
vpImage<double> I_score, I_score_gold;
double t = vpTime::measureTimeMs();
vpImageTools::templateMatching(I, I_template, I_score, step_u, step_v, true);
t = vpTime::measureTimeMs() - t;
double t_gold = vpTime::measureTimeMs();
vpImageTools::templateMatching(I, I_template, I_score_gold, step_u, step_v, false);
t_gold = vpTime::measureTimeMs() - t_gold;
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++) {
if ( !vpMath::equal(I_score[i][j], I_score_gold[i][j], 1e-9) ) {
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;
}
}
}
}
} catch (const vpException &e) {
std::cerr << "\nCatch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}