Visual Servoing Platform  version 3.2.1 under development (2019-12-06)
testImageBinarise.cpp

Test vpImageTools::binarise() function.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
*
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* it under the terms of the GNU General Public License as published by
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* (at your option) any later version.
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* Edition License.
*
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*
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* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
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*
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*
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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;
}