/* +---------------------------------------------------------------------------+
| The Mobile Robot Programming Toolkit (MRPT) C++ library |
| |
| http://mrpt.sourceforge.net/ |
| |
| Copyright (C) 2005-2011 University of Malaga |
| |
| This software was written by the Machine Perception and Intelligent |
| Robotics Lab, University of Malaga (Spain). |
| Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
| |
| This file is part of the MRPT project. |
| |
| MRPT 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 3 of the License, or |
| (at your option) any later version. |
| |
| MRPT is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| |
| You should have received a copy of the GNU General Public License |
| along with MRPT. If not, see <http://www.gnu.org/licenses/>. |
| |
+---------------------------------------------------------------------------+ */
#include <mrpt/utils.h>
#include <mrpt/gui.h>
#include <mrpt/math.h>
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::math;
using namespace mrpt::utils;
using namespace std;
#include <mrpt/examples_config.h>
string myDataDir( MRPT_EXAMPLES_BASE_DIRECTORY + string("imageCorrelation/") );
void TestWindow()
{
CImage IM;
IM.loadFromFile(myDataDir+string("fft2_test_image_patch.jpg"));
gui::CDisplayWindow win("Hola!");
win.showImage(IM);
win.waitForKey();
win.setPos(400,100);
win.waitForKey();
win.resize(400,100);
win.waitForKey();
}
// ------------------------------------------------------
// TestImageFFT
// ------------------------------------------------------
void TestImageFFT()
{
CTicTac tictac;
CImage IM1,IM2;
CMatrix imgCorr;
size_t u,v;
double valMax;
float valMaxF;
uint32_t nTimes;
// ==================== 1 ===================
IM1.loadFromFile(myDataDir+string("fft2_test_image_patch.jpg"), 0 ); // "Patch"
IM2.loadFromFile(myDataDir+string("fft2_test_image.jpg"), 0 ); // Ref. image
// Method I:
printf("Computing images correlation %ux%u (FFT)...",(unsigned)IM1.getWidth(),(unsigned)IM1.getHeight());
int searchWindow_x = 20;
int searchWindow_y = 20;
int searchWindow_lx = 64;
int searchWindow_ly = 64;
uint32_t N_TIMES = 100;
tictac.Tic();
for (nTimes=0;nTimes<N_TIMES;nTimes++)
{
IM2.cross_correlation_FFT(
IM1,
imgCorr,
searchWindow_x,
searchWindow_y,
searchWindow_lx,
searchWindow_ly);
}
printf(" Done,%.06fms\n",tictac.Tac()*1000.0f/N_TIMES);
SAVE_MATRIX(imgCorr);
imgCorr.find_index_max_value(u,v,valMaxF);
u+=searchWindow_x;
v+=searchWindow_y;
printf("Peak found at (%u,%u)=%f\n",(unsigned)u,(unsigned)v,valMaxF);
imgCorr *= 1.0f/valMaxF;
CImage imFl(imgCorr, true);
imFl.saveToFile("_OUT_CORRELATION_FFT.png");
// Repeat using OpenCV correlation:
// -----------------------------------------
printf("Computing images correlation %ux%u (OpenCV)...",(unsigned)IM1.getWidth(),(unsigned)IM1.getHeight());
tictac.Tic();
for (nTimes=0;nTimes<N_TIMES;nTimes++)
{
IM2.cross_correlation(
IM1,
u,v,valMax,
searchWindow_x,
searchWindow_y,
searchWindow_lx,
searchWindow_ly );
}
printf(" Done,%.06fms\n",tictac.Tac()*1000.0f/N_TIMES);
printf("Peak found at (%u,%u)=%f || -image_size/2 = (%u,%u)\n",(unsigned)u,(unsigned)v,valMax,(unsigned)(u-IM1.getWidth()/2),(unsigned)(v-IM1.getHeight()/2));
// ==================== 2 ===================
printf("Computing correlation (non-FFT method)...");
tictac.Tic();
CImage imgCorr2;
size_t x_max,y_max;
double corr_max;
IM2.cross_correlation(
IM1,
x_max,y_max, corr_max,
searchWindow_x, searchWindow_y,
searchWindow_lx, searchWindow_ly,
&imgCorr2 );
printf(" Done,%.06fms\n",tictac.Tac()*1000.0f);
{
CDisplayWindow win("Localization of patch"),win2("patch"),win3("correlation");
CImage aux(max(IM1.getWidth(),IM2.getWidth()),max(IM1.getHeight(),IM2.getHeight()));
aux.drawImage(0,0,IM2);
aux.rectangle(u,v,u-IM1.getWidth()/2,v-IM1.getHeight()/2,TColor::white,2);
win.showImage(aux); win.setPos(30,30);
win2.showImage(IM1); win2.setPos(30,400);
win3.showImage(imFl); win3.setPos(550,30);
win3.waitForKey();
return;
}
}
// ------------------------------------------------------
// TestFFT_2D_real
// ------------------------------------------------------
void TestFFT_2D_real()
{
CMatrix A, RES_R,RES_I,B,D;
CTicTac tictac;
printf("Loading matrix from file...");
A.loadFromTextFile(myDataDir+string("fft2_test.txt"));
printf("ok\n");
printf("Computing 2D FFT of %ux%u...",(unsigned int)A.getRowCount(),(unsigned int)A.getColCount());
tictac.Tic();
math::dft2_real(A,RES_R,RES_I);
printf(" Done,%.06fms\n",tictac.Tac()*1000.0f);
RES_R.saveToTextFile("_out_fft2_real.txt");
RES_I.saveToTextFile("_out_fft2_imag.txt");
printf("Computing 2D IFFT of %ux%u...",(unsigned int)A.getRowCount(),(unsigned int)A.getColCount());
tictac.Tic();
math::idft2_real(RES_R,RES_I,B);
printf(" Done,%.06fms\n",tictac.Tac()*1000.0f);
// B.saveToTextFile("_out_ifft2.txt");
D = B - A;
// D.saveToTextFile("_out_fft2_error_diffs.txt");
float maxError;
size_t u,v;
D.find_index_max_value(u,v,maxError);
printf("Maximum error between 'A' and 'IFFT(FFT(A))'=%e\n",maxError);
}
// ------------------------------------------------------
// TestFFT_2D_complex
// ------------------------------------------------------
void TestFFT_2D_complex()
{
CMatrix DATA_R,DATA_I, RES_R,RES_I,B_R,B_I,D_R,D_I;
CTicTac tictac;
printf("Loading matrix from file...");
DATA_R.loadFromTextFile(myDataDir+string("complex_fft2_test_real.txt"));
DATA_I.loadFromTextFile(myDataDir+string("complex_fft2_test_imag.txt"));
printf("ok\n");
printf("Computing 2D complex FFT of %ux%u...",(unsigned int)DATA_R.getRowCount(),(unsigned int)DATA_R.getColCount());
tictac.Tic();
math::dft2_complex(DATA_R,DATA_I,RES_R,RES_I);
printf(" Done,%.06fms\n",tictac.Tac()*1000.0f);
SAVE_MATRIX(RES_R);
SAVE_MATRIX(RES_I);
printf("Computing 2D complex IFFT of %ux%u...",(unsigned int)DATA_R.getRowCount(),(unsigned int)DATA_R.getColCount());
tictac.Tic();
math::idft2_complex(RES_R,RES_I,B_R,B_I);
printf(" Done,%.06fms\n",tictac.Tac()*1000.0f);
D_R = B_R - DATA_R;
D_I = B_I - DATA_I;
float maxError_R,maxError_I;
size_t u,v;
D_R.find_index_max_value(u,v,maxError_R);
D_I.find_index_max_value(u,v,maxError_I);
printf("Maximum error between 'A' and 'IFFT(FFT(A))'=%e\n",maxError_R);
printf("Maximum error between 'A' and 'IFFT(FFT(A))'=%e\n",maxError_I);
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
//TestFFT_2D_real();
//TestFFT_2D_complex();
TestImageFFT();
//TestWindow();
return 0;
} catch (std::exception &e)
{
std::cout << "MRPT exception caught: " << e.what() << std::endl;
return -1;
}
catch (...)
{
printf("Untyped exception!!");
return -1;
}
}
