/* +---------------------------------------------------------------------------+
| The Mobile Robot Programming Toolkit (MRPT) C++ library |
| |
| http://www.mrpt.org/ |
| |
| 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::math;
using namespace mrpt::gui;
using namespace mrpt::utils;
using namespace std;
#include <mrpt/examples_config.h>
string myDataDir( MRPT_EXAMPLES_BASE_DIRECTORY + string("imageCorrelation/") ); // Reuse it's images
// ------------------------------------------------------
// TestFFT_2D_real
// ------------------------------------------------------
void TestFFT_2D_real()
{
CMatrix A, RES_R,RES_I,B,D;
CTicTac tictac;
printf("Loading matrix from file...");
A.loadFromTextFile("dft2_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_dft2_real.txt");
RES_I.saveToTextFile("_out_dft2_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_dft2_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("complex_dft2_test_real.txt");
DATA_I.loadFromTextFile("complex_dft2_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);
RES_R.saveToTextFile("_out_complex_dft2_real.txt");
RES_I.saveToTextFile("_out_complex_dft2_imag.txt");
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);
// B.saveToTextFile("_out_ifft2.txt");
D_R = B_R - DATA_R;
D_I = B_I - DATA_I;
// D.saveToTextFile("_out_dft2_error_diffs.txt");
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);
}
// ------------------------------------------------------
// TestImageFFT
// ------------------------------------------------------
void TestImageFFT()
{
CTicTac tictac;
CImage IM1,IM2;
CMatrix imgCorr;
IM1.loadFromFile(myDataDir+string("fft2_test_image_patch.jpg"), 0 ); // "Patch"
IM2.loadFromFile(myDataDir+string("fft2_test_image.jpg"), 0 ); // Ref. image
printf("Computing images correlation...");
tictac.Tic();
IM2.cross_correlation_FFT(IM1,imgCorr);
printf(" Done,%.06fms\n",tictac.Tac()*1000.0f);
imgCorr.saveToTextFile("_out_dft2_image_test.txt");
}
// ------------------------------------------------------
// TestImageCap
// ------------------------------------------------------
void TestImage3D()
{
/* // Pixels -> 3D
CMatrix A = VisionUtils::defaultIntrinsicParamsMatrix();
CPoint3D p;
FILE *f=fopen("test.txt","wt");
for (int x=0;x<320;x+=10)
for (int y=0;y<240;y+=10)
for (int d=1;d<20;d+=1)
{
p = VisionUtils::pixelTo3D(x,y, A);
fprintf(f,"%f %f %f\n",p.x,p.y,p.z);
}
fclose(f);
return;
*/
}
// ------------------------------------------------------
// TestImageCap
// ------------------------------------------------------
void TestImageConversion()
{
// BMP -> JPEG conversion tester:
// --------------------------------
CImage img,img2;
CTicTac tictac;
{
tictac.Tic();
if (!img.loadFromFile("../imageBasics/frame_color.bmp"))
{
cerr << "Error loading ../imageBasics/frame_color.bmp" << endl;
return;
}
printf("bmp file loaded in %.03fms\n", 1000.0f*tictac.Tac() );
CDisplayWindow win1("BMP file, color");
win1.showImage( img );
win1.waitForKey();
tictac.Tic();
img.loadFromFile("frame_gray.bmp");
printf("bmp file loaded in %.03fms\n", 1000.0f*tictac.Tac() );
CDisplayWindow win2("BMP file, gray");
win2.showImage( img );
win2.waitForKey();
}
tictac.Tic();
img.loadFromFile("frame.jpg");
printf("jpeg file loaded in %.03fms\n", 1000.0f*tictac.Tac() );
CDisplayWindow win1("win1"),win2("win2"),win3("win3");
CImage imgSmall( img.scaleHalf() );
CImage imgSmall2( imgSmall.scaleHalf() );
CImage imgGray( imgSmall2.grayscale() );
// Test some draw capabilities:
// ---------------------------------
imgSmall.rectangle( 85,35, 170,170,TColor(255,0,0),10);
imgSmall.line( 550,75, 650,25,TColor(0,0,255) );
imgSmall.line( -10,-20, 20,30,TColor(0,0,255));
CMatrix COV(2,2);
COV(0,0) = 100;
COV(1,1) = 50;
COV(0,1) = COV(1,0) = -30;
imgSmall.ellipseGaussian( &COV, 600.0f,50.0f, 2, TColor(255,255,0), 4);
imgGray.ellipseGaussian( &COV, 100.0f,100.0f, 2, TColor(0,0,255), 4);
imgSmall.drawImage( 400,500,imgGray );
// Show the windows now:
// ------------------------------------------------------
win1.showImage( imgSmall ); win1.setPos(0,0);
win2.showImage( imgSmall2 ); win2.setPos(810,0);
win3.showImage( imgGray ); win3.setPos(810,400);
os::getch();
tictac.Tic();
img2.saveToFile("frame_out.jpg");
printf("jpeg file loaded in %.03fms\n", 1000.0f*tictac.Tac() );
return;
}
// ------------------------------------------------------
// TestImageCap
// ------------------------------------------------------
/*void TestImageCap()
{
CTicTac tictac;
bool ok = true;
CImageGrabber_OpenCV cap( 0 );
CObservationImage obs;
CDisplayWindow win("Capture");
while (ok && !_kbhit())
{
mrpt::system::sleep(10);
tictac.Tic();
ok = cap.getObservation( obs );
printf("Frame grabbed in %.03fms\n", 1000.0f*tictac.Tac() );
if (ok)
{
// CImageFloat img2; img2 = obs.image;
// win.showImage( obs.image.grayscale() );
win.showImage( obs.image );
}
};
if (_kbhit()) _getch();
}
*/
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
TestImageFFT();
//TestFFT_2D_real();
//TestFFT_2D_complex();
//TestImageFFT();
//TestImageCap();
//TestImageConversion();
return 0;
} catch (std::exception &e)
{
std::cout << "MRPT exception caught: " << e.what() << std::endl;
return -1;
}
catch (...)
{
printf("Untyped exception!!");
return -1;
}
}
