Visual Servoing Platform version 3.6.0
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testGaussianFilter.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test Gaussian filter.
33 *
34*****************************************************************************/
35
36#include <visp3/core/vpConfig.h>
37
44#if defined(VISP_HAVE_CATCH2) && (VISP_HAVE_DATASET_VERSION >= 0x030400)
45#define CATCH_CONFIG_RUNNER
46#include <catch.hpp>
47#include <visp3/core/vpGaussianFilter.h>
48#include <visp3/core/vpImageTools.h>
49#include <visp3/core/vpIoTools.h>
50#include <visp3/io/vpImageIo.h>
51
52TEST_CASE("Test vpGaussianFilter (unsigned char)")
53{
54 const std::string filepath = vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "Klimt/Klimt.pgm");
56 vpImageIo::read(I, filepath);
57
58 std::vector<float> sigmas = {0.5f, 2.0f, 5.0f, 7.0f};
59 for (auto sigma : sigmas) {
60 vpGaussianFilter gaussianFilter(I.getWidth(), I.getHeight(), sigma);
61
62 vpImage<unsigned char> I_blurred;
63 gaussianFilter.apply(I, I_blurred);
64
65 vpImage<unsigned char> I_blurred_ref;
66 const std::string filepath_ref = vpIoTools::createFilePath(
67 vpIoTools::getViSPImagesDataPath(), "Gaussian-filter/Klimt_gray_Gaussian_blur_sigma=%.1f.png");
68 char buffer[FILENAME_MAX];
69 snprintf(buffer, FILENAME_MAX, filepath_ref.c_str(), sigma);
70 const std::string filename = buffer;
71 vpImageIo::read(I_blurred_ref, filename);
72
74 vpImageTools::imageDifferenceAbsolute(I_blurred, I_blurred_ref, I_diff);
75 vpImage<double> I_diff_dbl;
76 vpImageConvert::convert(I_diff, I_diff_dbl);
77 std::cout << "sigma: " << sigma << " ; I_diff_dbl: " << I_diff_dbl.getMeanValue() << std::endl;
78 const double threshold = 1.5;
79 CHECK(I_diff_dbl.getMeanValue() < threshold);
80 }
81}
82
83TEST_CASE("Test vpGaussianFilter (vpRGBa)")
84{
85 const std::string filepath = vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "Klimt/Klimt.ppm");
87 vpImageIo::read(I, filepath);
88
89 std::vector<float> sigmas = {0.5f, 2.0f, 5.0f, 7.0f};
90 for (auto sigma : sigmas) {
91 vpGaussianFilter gaussianFilter(I.getWidth(), I.getHeight(), sigma);
92
93 vpImage<vpRGBa> I_blurred;
94 gaussianFilter.apply(I, I_blurred);
95
96 vpImage<vpRGBa> I_blurred_ref;
97 const std::string filepath_ref = vpIoTools::createFilePath(
98 vpIoTools::getViSPImagesDataPath(), "Gaussian-filter/Klimt_RGB_Gaussian_blur_sigma=%.1f.png");
99 char buffer[FILENAME_MAX];
100 snprintf(buffer, FILENAME_MAX, filepath_ref.c_str(), sigma);
101 const std::string filename = buffer;
102 vpImageIo::read(I_blurred_ref, filename);
103
104 vpImage<vpRGBa> I_diff;
105 vpImageTools::imageDifferenceAbsolute(I_blurred, I_blurred_ref, I_diff);
106 vpImage<unsigned char> I_diff_R, I_diff_G, I_diff_B;
107 vpImageConvert::split(I_diff, &I_diff_R, &I_diff_G, &I_diff_B);
108
109 vpImage<double> I_diff_R_dbl, I_diff_G_dbl, I_diff_B_dbl;
110 vpImageConvert::convert(I_diff_R, I_diff_R_dbl);
111 vpImageConvert::convert(I_diff_G, I_diff_G_dbl);
112 vpImageConvert::convert(I_diff_B, I_diff_B_dbl);
113
114 std::cout << "sigma: " << sigma << " ; I_diff_R_dbl: " << I_diff_R_dbl.getMeanValue()
115 << " ; I_diff_G_dbl: " << I_diff_G_dbl.getMeanValue()
116 << " ; I_diff_B_dbl: " << I_diff_B_dbl.getMeanValue() << std::endl;
117 const double threshold = 1.5;
118 CHECK(I_diff_R_dbl.getMeanValue() < threshold);
119 CHECK(I_diff_G_dbl.getMeanValue() < threshold);
120 CHECK(I_diff_B_dbl.getMeanValue() < threshold);
121 }
122}
123
124TEST_CASE("Test vpGaussianFilter (vpRGBa + deinterleave)")
125{
126 const std::string filepath = vpIoTools::createFilePath(vpIoTools::getViSPImagesDataPath(), "Klimt/Klimt.ppm");
128 vpImageIo::read(I, filepath);
129
130 std::vector<float> sigmas = {0.5f, 2.0f, 5.0f, 7.0f};
131 for (auto sigma : sigmas) {
132 const bool deinterleave = true;
133 vpGaussianFilter gaussianFilter(I.getWidth(), I.getHeight(), sigma, deinterleave);
134
135 vpImage<vpRGBa> I_blurred;
136 gaussianFilter.apply(I, I_blurred);
137
138 vpImage<vpRGBa> I_blurred_ref;
139 const std::string filepath_ref = vpIoTools::createFilePath(
140 vpIoTools::getViSPImagesDataPath(), "Gaussian-filter/Klimt_RGB_Gaussian_blur_sigma=%.1f.png");
141 char buffer[FILENAME_MAX];
142 snprintf(buffer, FILENAME_MAX, filepath_ref.c_str(), sigma);
143 const std::string filename = buffer;
144 vpImageIo::read(I_blurred_ref, filename);
145
146 vpImage<vpRGBa> I_diff;
147 vpImageTools::imageDifferenceAbsolute(I_blurred, I_blurred_ref, I_diff);
148 vpImage<unsigned char> I_diff_R, I_diff_G, I_diff_B;
149 vpImageConvert::split(I_diff, &I_diff_R, &I_diff_G, &I_diff_B);
150
151 vpImage<double> I_diff_R_dbl, I_diff_G_dbl, I_diff_B_dbl;
152 vpImageConvert::convert(I_diff_R, I_diff_R_dbl);
153 vpImageConvert::convert(I_diff_G, I_diff_G_dbl);
154 vpImageConvert::convert(I_diff_B, I_diff_B_dbl);
155
156 std::cout << "sigma: " << sigma << " ; I_diff_R_dbl: " << I_diff_R_dbl.getMeanValue()
157 << " ; I_diff_G_dbl: " << I_diff_G_dbl.getMeanValue()
158 << " ; I_diff_B_dbl: " << I_diff_B_dbl.getMeanValue() << std::endl;
159 const double threshold = 1.5;
160 CHECK(I_diff_R_dbl.getMeanValue() < threshold);
161 CHECK(I_diff_G_dbl.getMeanValue() < threshold);
162 CHECK(I_diff_B_dbl.getMeanValue() < threshold);
163 }
164}
165
166int main(int argc, char *argv[])
167{
168 Catch::Session session; // There must be exactly one instance
169
170 // Let Catch (using Clara) parse the command line
171 session.applyCommandLine(argc, argv);
172
173 int numFailed = session.run();
174
175 // numFailed is clamped to 255 as some unices only use the lower 8 bits.
176 // This clamping has already been applied, so just return it here
177 // You can also do any post run clean-up here
178 return numFailed;
179}
180#else
181int main() { return EXIT_SUCCESS; }
182#endif
Gaussian filter class.
static void split(const vpImage< vpRGBa > &src, vpImage< unsigned char > *pR, vpImage< unsigned char > *pG, vpImage< unsigned char > *pB, vpImage< unsigned char > *pa=NULL)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
static void imageDifferenceAbsolute(const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, vpImage< unsigned char > &Idiff)
Definition of the vpImage class member functions.
Definition vpImage.h:135
Type getMeanValue() const
Return the mean value of the bitmap.
Definition vpImage.h:963
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
static std::string getViSPImagesDataPath()
static std::string createFilePath(const std::string &parent, const std::string &child)