Visual Servoing Platform version 3.5.0
testHistogram.cpp
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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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.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://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
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26 * Inria at visp@inria.fr
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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 histogram computation.
33 *
34 * Authors:
35 * Souriya Trinh
36 *
37 *****************************************************************************/
38
39#include <stdio.h>
40#include <stdlib.h>
41#include <visp3/core/vpHistogram.h>
42#include <visp3/core/vpImage.h>
43#include <visp3/core/vpIoTools.h>
44#include <visp3/io/vpImageIo.h>
45#include <visp3/io/vpParseArgv.h>
46
54// List of allowed command line options
55#define GETOPTARGS "cdi:t:h"
56
57/*
58 Print the program options.
59
60 \param name : Program name.
61 \param badparam : Bad parameter name.
62 \param ipath: Input image path.
63
64 */
65void usage(const char *name, const char *badparam, std::string ipath)
66{
67 fprintf(stdout, "\n\
68Test histogram.\n\
69\n\
70SYNOPSIS\n\
71 %s [-i <input image path>] [-t <nb threads>]\n\
72 [-h]\n \
73", name);
74
75 fprintf(stdout, "\n\
76OPTIONS: Default\n\
77 -i <input image path> %s\n\
78 Set image input path.\n\
79 From this path read \"Klimt/Klimt.ppm\"\n\
80 image.\n\
81 Setting the VISP_INPUT_IMAGE_PATH environment\n\
82 variable produces the same behaviour than using\n\
83 this option.\n\
84\n\
85 -t <nb threads>\n\
86 Set the number of threads to use for the computation.\n\
87 -h\n\
88 Print the help.\n\n", ipath.c_str());
89
90 if (badparam)
91 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
92}
93
105bool getOptions(int argc, const char **argv, std::string &ipath, unsigned int &nbThreads)
106{
107 const char *optarg_;
108 int c;
109 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
110
111 switch (c) {
112 case 'i':
113 ipath = optarg_;
114 break;
115 case 't':
116 nbThreads = (unsigned int)atoi(optarg_);
117 break;
118 case 'h':
119 usage(argv[0], NULL, ipath);
120 return false;
121 break;
122
123 case 'c':
124 case 'd':
125 break;
126
127 default:
128 usage(argv[0], optarg_, ipath);
129 return false;
130 break;
131 }
132 }
133
134 if ((c == 1) || (c == -1)) {
135 // standalone param or error
136 usage(argv[0], NULL, ipath);
137 std::cerr << "ERROR: " << std::endl;
138 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
139 return false;
140 }
141
142 return true;
143}
144
152unsigned int histogramSum(const vpImage<unsigned char> &I, unsigned int nbBins, unsigned int nbThreads)
153{
154 unsigned int sum = 0;
155
156 vpHistogram histogram;
157 histogram.calculate(I, nbBins, nbThreads);
158
159 for (unsigned int cpt = 0; cpt < histogram.getSize(); cpt++) {
160 sum += histogram[cpt];
161 }
162
163 return sum;
164}
165
172bool compareHistogram(const vpImage<unsigned char> &I, unsigned int nbBins)
173{
174 vpHistogram histogram_single_threaded;
175 histogram_single_threaded.calculate(I, nbBins, 1);
176
177 vpHistogram histogram_multi_threaded;
178 histogram_multi_threaded.calculate(I, nbBins, 4);
179
180 unsigned int sum = 0;
181 for (unsigned int cpt = 0; cpt < nbBins; cpt++) {
182 if (histogram_single_threaded[cpt] != histogram_multi_threaded[cpt]) {
183 std::cerr << "histogram_single_threaded[" << cpt << "]=" << histogram_single_threaded[cpt]
184 << " ; histogram_multi_threaded[" << cpt << "]=" << histogram_multi_threaded[cpt] << std::endl;
185
186 return false;
187 }
188
189 sum += histogram_single_threaded[cpt];
190 }
191
192 if (sum != I.getSize()) {
193 std::cerr << "Sum of histogram is different with the image size!" << std::endl;
194 return false;
195 }
196
197 return true;
198}
199
200int main(int argc, const char **argv)
201{
202 try {
203 std::string env_ipath;
204 std::string opt_ipath;
205 std::string ipath;
206 std::string filename;
207 unsigned int nbThreads = 4;
208
209 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
210 // environment variable value
212
213 // Set the default input path
214 if (!env_ipath.empty())
215 ipath = env_ipath;
216
217 // Read the command line options
218 if (getOptions(argc, argv, opt_ipath, nbThreads) == false) {
219 exit(-1);
220 }
221
222 // Get the option values
223 if (!opt_ipath.empty())
224 ipath = opt_ipath;
225
226 // Compare ipath and env_ipath. If they differ, we take into account
227 // the input path comming from the command line option
228 if (!opt_ipath.empty() && !env_ipath.empty()) {
229 if (ipath != env_ipath) {
230 std::cout << std::endl << "WARNING: " << std::endl;
231 std::cout << " Since -i <visp image path=" << ipath << "> "
232 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
233 << " we skip the environment variable." << std::endl;
234 }
235 }
236
237 // Test if an input path is set
238 if (opt_ipath.empty() && env_ipath.empty()) {
239 usage(argv[0], NULL, ipath);
240 std::cerr << std::endl << "ERROR:" << std::endl;
241 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
242 << " environment variable to specify the location of the " << std::endl
243 << " image path where test images are located." << std::endl
244 << std::endl;
245 exit(-1);
246 }
247
248 //
249 // Here starts really the test
250 //
251
252 // Create a grey level image
254
255 // Load a grey image from the disk
256 filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
257 std::cout << "Read image: " << filename << std::endl;
258 vpImageIo::read(I, filename);
259
260 std::cout << "I=" << I.getWidth() << "x" << I.getHeight() << std::endl;
261
262 int nbIterations = 100;
263 unsigned int nbBins = 256;
264 unsigned int sum_single_thread = 0;
265 unsigned int sum_single_multithread = 0;
266
267 double t_single_thread = vpTime::measureTimeMs();
268 for (int iteration = 0; iteration < nbIterations; iteration++) {
269 sum_single_thread = histogramSum(I, nbBins, 1);
270 }
271 t_single_thread = vpTime::measureTimeMs() - t_single_thread;
272
273 double t_multithread = vpTime::measureTimeMs();
274 for (int iteration = 0; iteration < nbIterations; iteration++) {
275 sum_single_multithread = histogramSum(I, nbBins, nbThreads);
276 }
277 t_multithread = vpTime::measureTimeMs() - t_multithread;
278
279 std::cout << "sum_single_thread=" << sum_single_thread << " ; t_single_thread=" << t_single_thread
280 << " ms ; mean=" << t_single_thread / (double)nbIterations << " ms" << std::endl;
281 std::cout << "sum_single_multithread=" << sum_single_multithread << " ; t_multithread=" << t_multithread
282 << " ms ; mean=" << t_multithread / (double)nbIterations << " ms" << std::endl;
283 std::cout << "Speed-up=" << t_single_thread / (double)t_multithread << "X" << std::endl;
284
285 if (sum_single_thread != I.getSize() || sum_single_multithread != I.getSize()) {
286 std::cerr << "Problem with histogram!" << std::endl;
287 return -1;
288 }
289
290 nbBins = 101;
291 if (!compareHistogram(I, nbBins)) {
292 std::cerr << "Histogram are different!" << std::endl;
293 return -1;
294 }
295
296 // Test histogram computation on empty image
297 vpHistogram histogram;
298 vpImage<unsigned char> I_test(0, 0);
299 histogram.calculate(I_test, 256, 4);
300 if (histogram.getSize() == 256) {
301 for (unsigned int cpt = 0; cpt < 256; cpt++) {
302 if (histogram[cpt] != 0) {
303 std::cerr << "Problem with histogram computation: histogram[" << cpt << "]=" << histogram[cpt]
304 << " but should be zero!" << std::endl;
305 }
306 }
307 } else {
308 std::cerr << "Bad histogram size!" << std::endl;
309 return -1;
310 }
311
312 // Test histogram computation on image size < nbThreads
313 I_test.init(3, 1);
314 I_test = 100;
315 histogram.calculate(I_test, 256, 4);
316 if (histogram.getSize() == 256) {
317 for (unsigned int cpt = 0; cpt < 256; cpt++) {
318 if (cpt == 100) {
319 if (histogram[cpt] != I_test.getSize()) {
320 std::cerr << "Problem with histogram computation: histogram[" << cpt << "]=" << histogram[cpt]
321 << " but should be: " << I_test.getSize() << std::endl;
322 return -1;
323 }
324 } else {
325 if (histogram[cpt] != 0) {
326 std::cerr << "Problem with histogram computation: histogram[" << cpt << "]=" << histogram[cpt]
327 << " but should be zero!" << std::endl;
328 }
329 }
330 }
331 } else {
332 std::cerr << "Bad histogram size!" << std::endl;
333 return -1;
334 }
335
336 // Test histogram computation on small image size
337 I_test.init(7, 1);
338 I_test = 50;
339 histogram.calculate(I_test, 256, 4);
340 if (histogram.getSize() == 256) {
341 for (unsigned int cpt = 0; cpt < 256; cpt++) {
342 if (cpt == 50) {
343 if (histogram[cpt] != I_test.getSize()) {
344 std::cerr << "Problem with histogram computation: histogram[" << cpt << "]=" << histogram[cpt]
345 << " but should be: " << I_test.getSize() << std::endl;
346 return -1;
347 }
348 } else {
349 if (histogram[cpt] != 0) {
350 std::cerr << "Problem with histogram computation: histogram[" << cpt << "]=" << histogram[cpt]
351 << " but should be zero!" << std::endl;
352 }
353 }
354 }
355 } else {
356 std::cerr << "Bad histogram size!" << std::endl;
357 return -1;
358 }
359
360 std::cout << "testHistogram is OK!" << std::endl;
361 return 0;
362 } catch (const vpException &e) {
363 std::cerr << "Catch an exception: " << e.what() << std::endl;
364 return 1;
365 }
366}
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
Class to compute a gray level image histogram.
Definition: vpHistogram.h:113
void calculate(const vpImage< unsigned char > &I, unsigned int nbins=256, unsigned int nbThreads=1)
unsigned getSize() const
Definition: vpHistogram.h:267
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getSize() const
Definition: vpImage.h:227
unsigned int getHeight() const
Definition: vpImage.h:188
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
VISP_EXPORT double measureTimeMs()