Visual Servoing Platform  version 3.2.1 under development (2019-04-21)
testImageDifference.cpp

Test vpImageTools::imageDifference()

/****************************************************************************
*
* 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:
* Image difference.
*
* Authors:
* Fabien Spindler
* Souriya Trinh
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpImageTools.h>
namespace {
void regularImageDifference(const vpImage<unsigned char> &I1, const vpImage<unsigned char> &I2, vpImage<unsigned char> &Idiff)
{
if ((I1.getHeight() != I2.getHeight()) || (I1.getWidth() != I2.getWidth())) {
throw(vpException(vpException::dimensionError, "The two images have not the same size"));
}
if ((I1.getHeight() != Idiff.getHeight()) || (I1.getWidth() != Idiff.getWidth()))
Idiff.resize(I1.getHeight(), I1.getWidth());
unsigned int n = I1.getHeight() * I1.getWidth();
for (unsigned int b = 0; b < n; b++) {
int diff = I1.bitmap[b] - I2.bitmap[b] + 128u;
Idiff.bitmap[b] = static_cast<unsigned char>(vpMath::maximum(vpMath::minimum(diff, 255), 0));
}
}
void regularImageDifference(const vpImage<vpRGBa> &I1, const vpImage<vpRGBa> &I2, vpImage<vpRGBa> &Idiff)
{
if ((I1.getHeight() != I2.getHeight()) || (I1.getWidth() != I2.getWidth())) {
throw(vpException(vpException::dimensionError, "Cannot compute image difference. The two images "
"(%ux%u) and (%ux%u) have not the same size",
I1.getWidth(), I1.getHeight(), I2.getWidth(), I2.getHeight()));
}
if ((I1.getHeight() != Idiff.getHeight()) || (I1.getWidth() != Idiff.getWidth()))
Idiff.resize(I1.getHeight(), I1.getWidth());
unsigned int n = I1.getHeight() * I1.getWidth();
for (unsigned int b = 0; b < n; b++) {
int diffR = I1.bitmap[b].R - I2.bitmap[b].R + 128;
int diffG = I1.bitmap[b].G - I2.bitmap[b].G + 128;
int diffB = I1.bitmap[b].B - I2.bitmap[b].B + 128;
int diffA = I1.bitmap[b].A - I2.bitmap[b].A + 128;
Idiff.bitmap[b].R = static_cast<unsigned char>(vpMath::maximum(vpMath::minimum(diffR, 255), 0));
Idiff.bitmap[b].G = static_cast<unsigned char>(vpMath::maximum(vpMath::minimum(diffG, 255), 0));
Idiff.bitmap[b].B = static_cast<unsigned char>(vpMath::maximum(vpMath::minimum(diffB, 255), 0));
Idiff.bitmap[b].A = static_cast<unsigned char>(vpMath::maximum(vpMath::minimum(diffA, 255), 0));
}
}
}
int main()
{
const unsigned int width = 501, height = 447;
vpImage<unsigned char> I1(height,width), I2(height,width), Idiff_regular(height,width), Idiff_sse(height,width);
vpImage<vpRGBa> I1_color(height, width), I2_color(height, width), Idiff_regular_color(height, width), Idiff_sse_color(height, width);
for (unsigned int i = 0; i < I1.getRows(); i++) {
for (unsigned int j = 0; j < I1.getCols(); j++) {
I1[i][j] = static_cast<unsigned char>(i*I1.getCols() + j);
I1_color[i][j] = vpRGBa(static_cast<unsigned char>(i*I1.getCols() + j));
}
}
{
std::cout << "Grayscale:" << std::endl;
double t_regular = 0.0, t_sse = 0.0;
for (unsigned int cpt = 0; cpt < 256; cpt++) {
for (unsigned int i = 0; i < I2.getRows(); i++) {
for (unsigned int j = 0; j < I2.getCols(); j++) {
I2[i][j] = static_cast<unsigned char>(i*I2.getCols() + j + cpt);
}
}
double t = vpTime::measureTimeMs();
regularImageDifference(I1, I2, Idiff_regular);
t_regular += vpTime::measureTimeMs() - t;
vpImageTools::imageDifference(I1, I2, Idiff_sse);
t_sse += vpTime::measureTimeMs() - t;
bool same_result = Idiff_regular == Idiff_sse;
std::cout << "(Idiff_regular == Idiff_sse)? " << same_result << std::endl;
if (!same_result) {
std::cerr << "Problem with vpImageTools::imageDifference()" << std::endl;
return EXIT_FAILURE;
}
}
std::cout << "t_regular: " << t_regular << " ms ; mean t_regular: " << t_regular/256 << " ms" << std::endl;
std::cout << "t_sse: " << t_sse << " ms ; mean t_sse: " << t_sse/256 << " ms" << std::endl;
std::cout << "speed-up: " << t_regular / t_sse << " X" << std::endl;
}
{
std::cout << "\nColor:" << std::endl;
double t_regular = 0.0, t_sse = 0.0;
for (unsigned int cpt = 0; cpt < 256; cpt++) {
for (unsigned int i = 0; i < I2.getRows(); i++) {
for (unsigned int j = 0; j < I2.getCols(); j++) {
I2_color[i][j] = vpRGBa(static_cast<unsigned char>(i*I2.getCols() + j + cpt));
}
}
double t = vpTime::measureTimeMs();
regularImageDifference(I1_color, I2_color, Idiff_regular_color);
t_regular += vpTime::measureTimeMs() - t;
vpImageTools::imageDifference(I1_color, I2_color, Idiff_sse_color);
t_sse += vpTime::measureTimeMs() - t;
bool same_result = Idiff_regular_color == Idiff_sse_color;
std::cout << "(Idiff_regular_color == Idiff_sse_color)? " << same_result << std::endl;
if (!same_result) {
std::cerr << "Problem with vpImageTools::imageDifference()" << std::endl;
return EXIT_FAILURE;
}
}
std::cout << "t_regular: " << t_regular << " ms ; mean t_regular: " << t_regular/256 << " ms" << std::endl;
std::cout << "t_sse: " << t_sse << " ms ; mean t_sse: " << t_sse/256 << " ms" << std::endl;
std::cout << "speed-up: " << t_regular / t_sse << " X" << std::endl;
}
return EXIT_SUCCESS;
}