Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
testImageBinarise.cpp
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31  * Description:
32  * Test for vpImageTools::binarise() function.
33  *
34  * Authors:
35  * Souriya Trinh
36  *
37 *****************************************************************************/
45 #include <visp3/core/vpImageTools.h>
46 
47 int main()
48 {
49  std::cout << "Test vpImageTools::binarise() with different data types." << std::endl;
50 
51  unsigned int width = 5, height = 4;
52  std::vector<unsigned char> uchar_array(width * height);
53  std::vector<double> double_array(width * height);
54  std::vector<vpRGBa> rgba_array(width * height);
55  for (unsigned char i = 0; i < width * height; i++) {
56  uchar_array[i] = i;
57  double_array[i] = i;
58  rgba_array[i] = vpRGBa(i, i, i, i);
59  }
60 
61  vpImage<unsigned char> I(&uchar_array.front(), height, width);
62  vpImage<double> I_double(&double_array.front(), height, width);
63  vpImage<vpRGBa> I_rgba(&rgba_array.front(), height, width);
64 
65  std::cout << "I:" << std::endl;
66  for (unsigned int i = 0; i < I.getHeight(); i++) {
67  for (unsigned int j = 0; j < I.getWidth(); j++) {
68  std::cout << static_cast<unsigned>(I[i][j]) << " ";
69  }
70  std::cout << std::endl;
71  }
72 
73  std::cout << "\nI_double:" << std::endl;
74  for (unsigned int i = 0; i < I_double.getHeight(); i++) {
75  for (unsigned int j = 0; j < I_double.getWidth(); j++) {
76  std::cout << I_double[i][j] << " ";
77  }
78  std::cout << std::endl;
79  }
80 
81  std::cout << "\nI_rgba:" << std::endl;
82  for (unsigned int i = 0; i < I_rgba.getHeight(); i++) {
83  for (unsigned int j = 0; j < I_rgba.getWidth(); j++) {
84  std::cout << static_cast<unsigned>(I_rgba[i][j].R) << " ; " << static_cast<unsigned>(I_rgba[i][j].G) << " ; "
85  << static_cast<unsigned>(I_rgba[i][j].B) << " ; " << static_cast<unsigned int>(I_rgba[i][j].A)
86  << std::endl;
87  }
88  std::cout << std::endl;
89  }
90 
91  vpImageTools::binarise(I, (unsigned char)5, (unsigned char)12, (unsigned char)0, (unsigned char)127,
92  (unsigned char)255);
93  vpImageTools::binarise(I_double, 5.0, 12.0, 0.0, 127.0, 255.0);
94  vpImageTools::binarise(I_rgba, vpRGBa(5), vpRGBa(12), vpRGBa(0), vpRGBa(127), vpRGBa(255));
95 
96  std::cout << "\nI binarise:" << std::endl;
97  for (unsigned int i = 0; i < I.getHeight(); i++) {
98  for (unsigned int j = 0; j < I.getWidth(); j++) {
99  std::cout << static_cast<unsigned>(I[i][j]) << " ";
100  }
101  std::cout << std::endl;
102  }
103 
104  std::cout << "\nI_double binarise:" << std::endl;
105  for (unsigned int i = 0; i < I_double.getHeight(); i++) {
106  for (unsigned int j = 0; j < I_double.getWidth(); j++) {
107  std::cout << I_double[i][j] << " ";
108  }
109  std::cout << std::endl;
110  }
111 
112  std::cout << "\nI_rgba binarise:" << std::endl;
113  for (unsigned int i = 0; i < I_rgba.getHeight(); i++) {
114  for (unsigned int j = 0; j < I_rgba.getWidth(); j++) {
115  std::cout << static_cast<unsigned>(I_rgba[i][j].R) << " ; " << static_cast<unsigned>(I_rgba[i][j].G) << " ; "
116  << static_cast<unsigned>(I_rgba[i][j].B) << " ; " << static_cast<unsigned>(I_rgba[i][j].A) << std::endl;
117  }
118  std::cout << std::endl;
119  }
120 
121  // Check if results are the same between iterate and LUT methods
122  width = 32;
123  height = 8;
124  std::vector<unsigned char> uchar_array1(width * height);
125  std::vector<unsigned char> uchar_array2(width * height);
126  for (unsigned int i = 0; i < 256; i++) {
127  uchar_array1[i] = (unsigned char)i;
128  uchar_array2[i] = (unsigned char)i;
129  }
130 
131  vpImage<unsigned char> I_uchar1(&uchar_array1.front(), height, width);
132  vpImage<unsigned char> I_uchar2(&uchar_array2.front(), height, width);
133 
134  unsigned char threshold1 = 50, threshold2 = 200;
135  unsigned char value1 = 4, value2 = 127, value3 = 250;
136  vpImageTools::binarise(I_uchar1, threshold1, threshold2, value1, value2, value3, false);
137  vpImageTools::binarise(I_uchar2, threshold1, threshold2, value1, value2, value3, true);
138 
139  for (unsigned int i = 0; i < height; i++) {
140  for (unsigned int j = 0; j < width; j++) {
141  if (I_uchar1[i][j] != I_uchar2[i][j]) {
142  std::cerr << "Results are different between iterate and LUT methods !" << std::endl;
143  return EXIT_FAILURE;
144  }
145  }
146  }
147 
148  // Test performance between iterate and LUT methods
149  width = 640;
150  height = 480;
151  std::vector<unsigned char> uchar_array_perf_lut(width * height);
152  std::vector<unsigned char> uchar_array_perf_iterate(width * height);
153  for (unsigned int i = 0; i < width * height; i++) {
154  uchar_array_perf_lut[i] = (unsigned char)i;
155  uchar_array_perf_iterate[i] = (unsigned char)i;
156  }
157 
158  vpImage<unsigned char> I_perf_lut(&uchar_array_perf_lut.front(), height, width);
159  vpImage<unsigned char> I_perf_iterate(&uchar_array_perf_iterate.front(), height, width);
160 
161  unsigned int nbIterations = 100;
162  vpChrono chrono;
163  chrono.start();
164  for (unsigned int cpt = 0; cpt < nbIterations; cpt++) {
165  vpImageTools::binarise(I_perf_iterate, threshold1, threshold2, value1, value2, value3, false);
166  }
167  chrono.stop();
168  std::cout << "Iterate: " << chrono.getDurationMs() << " ms for " << nbIterations << " iterations." << std::endl;
169 
170  chrono.start();
171  for (unsigned int cpt = 0; cpt < nbIterations; cpt++) {
172  vpImageTools::binarise(I_perf_lut, threshold1, threshold2, value1, value2, value3, true);
173  }
174  chrono.stop();
175  std::cout << "LUT: " << chrono.getDurationMs() << " ms for " << nbIterations << " iterations." << std::endl;
176 
177  std::cout << "\ntestImageBinarise ok !" << std::endl;
178  return EXIT_SUCCESS;
179 }
void start(bool reset=true)
Definition: vpTime.cpp:397
void stop()
Definition: vpTime.cpp:412
double getDurationMs()
Definition: vpTime.cpp:386
static void binarise(vpImage< Type > &I, Type threshold1, Type threshold2, Type value1, Type value2, Type value3, bool useLUT=true)
Definition: vpImageTools.h:462
unsigned int getWidth() const
Definition: vpImage.h:242
unsigned int getHeight() const
Definition: vpImage.h:184
Definition: vpRGBa.h:61