Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
testImageNormalizedCorrelation.cpp
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31  * Description:
32  * Test vpImageTools::normalizedCorrelation().
33  *
34 *****************************************************************************/
41 #include <visp3/core/vpImage.h>
42 #include <visp3/core/vpImageTools.h>
43 #include <visp3/core/vpIoTools.h>
44 #include <visp3/gui/vpDisplayGDI.h>
45 #include <visp3/gui/vpDisplayOpenCV.h>
46 #include <visp3/gui/vpDisplayX.h>
47 #include <visp3/io/vpParseArgv.h>
48 #include <visp3/io/vpVideoReader.h>
49 
50 // List of allowed command line options
51 #define GETOPTARGS "cdi:h"
52 
53 namespace
54 {
55 void usage(const char *name, const char *badparam, std::string ipath)
56 {
57  fprintf(stdout, "\n\
58  Test vpImageTools::normalizedCorrelation().\n\
59  \n\
60  SYNOPSIS\n\
61  %s [-i <VISP_IMAGES directory>] \n\
62  [-h]\n \
63  ",
64  name);
65 
66  fprintf(stdout, "\n\
67  OPTIONS: Default\n\
68  -i <VISP_IMAGES directory> %s\n\
69  Set VISP_IMAGES input path.\n\
70  Setting the VISP_INPUT_IMAGE_PATH environment\n\
71  variable produces the same behaviour than using\n\
72  this option.\n\
73  -h\n\
74  Print the help.\n\n",
75  ipath.c_str());
76 
77  if (badparam)
78  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
79 }
80 
81 bool getOptions(int argc, const char **argv, std::string &ipath)
82 {
83  const char *optarg_;
84  int c;
85  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
86 
87  switch (c) {
88  case 'i':
89  ipath = optarg_;
90  break;
91  case 'h':
92  usage(argv[0], nullptr, ipath);
93  return false;
94  break;
95 
96  case 'c':
97  case 'd':
98  break;
99 
100  default:
101  usage(argv[0], optarg_, ipath);
102  return false;
103  break;
104  }
105  }
106 
107  if ((c == 1) || (c == -1)) {
108  // standalone param or error
109  usage(argv[0], nullptr, ipath);
110  std::cerr << "ERROR: " << std::endl;
111  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
112  return false;
113  }
114 
115  return true;
116 }
117 
118 void templateMatching(const vpImage<unsigned char> &I, const vpImage<unsigned char> &I_tpl, vpImage<double> &I_score,
119  unsigned int step_u, unsigned int step_v, bool useOptimized)
120 {
121  unsigned int height_tpl = I_tpl.getHeight(), width_tpl = I_tpl.getWidth();
122  vpImage<double> I_double, I_tpl_double, I_cur;
123  vpImageConvert::convert(I, I_double);
124  vpImageConvert::convert(I_tpl, I_tpl_double);
125  I_score.resize(I.getHeight() - height_tpl, I.getWidth() - width_tpl, 0.0);
126 
127  for (unsigned int i = 0; i < I.getHeight() - height_tpl; i += step_v) {
128  for (unsigned int j = 0; j < I.getWidth() - width_tpl; j += step_u) {
129  vpRect roi(vpImagePoint(i, j), vpImagePoint(i + height_tpl - 1, j + width_tpl - 1));
130  vpImageTools::crop(I_double, roi, I_cur);
131 
132  I_score[i][j] = vpImageTools::normalizedCorrelation(I_cur, I_tpl_double, useOptimized);
133  }
134  }
135 }
136 } // namespace
137 
138 int main(int argc, const char **argv)
139 {
140  try {
141  std::string env_ipath;
142  std::string opt_ipath;
143  std::string ipath;
144  std::string filename;
145 
146 #if VISP_HAVE_DATASET_VERSION >= 0x030600
147  std::string ext("png");
148 #else
149  std::string ext("pgm");
150 #endif
151 
152  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
153  // environment variable value
154  env_ipath = vpIoTools::getViSPImagesDataPath();
155 
156  // Set the default input path
157  if (!env_ipath.empty()) {
158  ipath = env_ipath;
159  }
160 
161  // Read the command line options
162  if (!getOptions(argc, argv, opt_ipath)) {
163  exit(EXIT_FAILURE);
164  }
165 
166  // Get the option values
167  if (!opt_ipath.empty()) {
168  ipath = opt_ipath;
169  }
170 
171  // Compare ipath and env_ipath. If they differ, we take into account
172  // the input path coming from the command line option
173  if (!opt_ipath.empty() && !env_ipath.empty()) {
174  if (ipath != env_ipath) {
175  std::cout << std::endl << "WARNING: " << std::endl;
176  std::cout << " Since -i <visp image path=" << ipath << "> "
177  << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
178  << " we skip the environment variable." << std::endl;
179  }
180  }
181 
182  // Test if an input path is set
183  if (opt_ipath.empty() && env_ipath.empty()) {
184  usage(argv[0], nullptr, ipath);
185  std::cerr << std::endl << "ERROR:" << std::endl;
186  std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
187  << " environment variable to specify the location of the " << std::endl
188  << " image path where test images are located." << std::endl
189  << std::endl;
190  exit(EXIT_FAILURE);
191  }
192 
193  //
194  // Here starts really the test
195  //
196 
197  // Load cube sequence
198  filename = vpIoTools::createFilePath(ipath, "mbt/cube/image%04d." + ext);
199 
200  vpVideoReader reader;
201  reader.setFileName(filename);
202  vpImage<unsigned char> I, I_template;
203  reader.open(I);
204  vpRect template_roi(vpImagePoint(201, 310), vpImagePoint(201 + 152 - 1, 310 + 138 - 1));
205  vpImageTools::crop(I, template_roi, I_template);
206 
207  vpImage<double> I_score, I_score_gold;
208  const unsigned int step_i = 5, step_j = 5;
209  double t = vpTime::measureTimeMs();
210  templateMatching(I, I_template, I_score, step_i, step_j, true);
211  t = vpTime::measureTimeMs() - t;
212 
213  double t_gold = vpTime::measureTimeMs();
214  templateMatching(I, I_template, I_score_gold, step_i, step_j, false);
215  t_gold = vpTime::measureTimeMs() - t_gold;
216 
217  for (unsigned int i = 0; i < I_score.getHeight(); i++) {
218  for (unsigned int j = 0; j < I_score.getWidth(); j++) {
219  if (!vpMath::equal(I_score[i][j], I_score_gold[i][j], 1e-9)) {
220  std::cerr << "Issue with normalizedCorrelation, gold: " << std::setprecision(17) << I_score_gold[i][j]
221  << " ; compute: " << I_score[i][j] << std::endl;
222  return EXIT_FAILURE;
223  }
224  }
225  }
226 
227  vpImagePoint max_loc, max_loc_gold;
228  double max_correlation = -1.0, max_correlation_gold = -1.0;
229  I_score.getMinMaxLoc(nullptr, &max_loc, nullptr, &max_correlation);
230  I_score_gold.getMinMaxLoc(nullptr, &max_loc_gold, nullptr, &max_correlation_gold);
231 
232  std::cout << "Compare regular and SSE version of vpImageTools::normalizedCorrelation()" << std::endl;
233  std::cout << "vpImageTools::normalizedCorrelation(): " << max_correlation << " ; " << t << " ms" << std::endl;
234  std::cout << "Gold normalizedCorrelation(): " << max_correlation_gold << " ; " << t_gold << " ms" << std::endl;
235 
236  std::cerr << "\nTrue template position: " << template_roi.getTopLeft() << std::endl;
237  std::cerr << "Found template position: " << max_loc << std::endl;
238  if (vpImagePoint::distance(max_loc, template_roi.getTopLeft()) > step_i) {
239  std::cerr << "Issue with vpImageTools::normalizedCorrelation:" << std::endl;
240  return EXIT_FAILURE;
241  }
242 
243  } catch (const vpException &e) {
244  std::cerr << "\nCatch an exception: " << e << std::endl;
245  return EXIT_FAILURE;
246  }
247  return EXIT_SUCCESS;
248 }
error that can be emitted by ViSP classes.
Definition: vpException.h:59
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
static void crop(const vpImage< Type > &I, double roi_top, double roi_left, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1)
Definition: vpImageTools.h:304
static double normalizedCorrelation(const vpImage< double > &I1, const vpImage< double > &I2, bool useOptimized=true)
void getMinMaxLoc(vpImagePoint *minLoc, vpImagePoint *maxLoc, Type *minVal=nullptr, Type *maxVal=nullptr) const
Get the position of the minimum and/or the maximum pixel value within the bitmap and the correspondin...
Definition: vpImage.h:1202
unsigned int getWidth() const
Definition: vpImage.h:242
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:780
unsigned int getHeight() const
Definition: vpImage.h:184
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1786
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:2147
static bool equal(double x, double y, double threshold=0.001)
Definition: vpMath.h:449
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Defines a rectangle in the plane.
Definition: vpRect.h:76
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
VISP_EXPORT double measureTimeMs()