Visual Servoing Platform version 3.6.0
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perfImageMorphology.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 * Benchmark image morphology.
33 *
34*****************************************************************************/
35
36#include <visp3/core/vpConfig.h>
37
38#ifdef VISP_HAVE_CATCH2
39#define CATCH_CONFIG_ENABLE_BENCHMARKING
40#define CATCH_CONFIG_RUNNER
41#include <catch.hpp>
42
43#include "common.hpp"
44#include <visp3/core/vpImageMorphology.h>
45#include <visp3/core/vpImageTools.h>
46#include <visp3/core/vpIoTools.h>
47#include <visp3/io/vpImageIo.h>
48
49static std::string ipath = vpIoTools::getViSPImagesDataPath();
50
51TEST_CASE("Benchmark binary image morphology", "[benchmark]")
52{
53 std::string imagePath = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
55 vpImageIo::read(I, imagePath);
56
57 vpImage<unsigned char> I_Klimt_binarized = I;
58 vpImageTools::binarise(I_Klimt_binarized, (unsigned char)127, (unsigned char)127, (unsigned char)0, (unsigned char)1,
59 (unsigned char)1, true);
60
61 SECTION("Dilatation")
62 {
63 SECTION("4-connexity")
64 {
66 BENCHMARK("Benchmark dilatation (naive code)")
67 {
68 common_tools::imageDilatationRef(I_Klimt_binarized, connexity);
69 return I_Klimt_binarized;
70 };
71
72 BENCHMARK("Benchmark dilatation (ViSP)")
73 {
74 vpImageMorphology::dilatation(I_Klimt_binarized, (unsigned char)1, (unsigned char)0, connexity);
75 return I_Klimt_binarized;
76 };
77 }
78
79 SECTION("8-connexity")
80 {
82 BENCHMARK("Benchmark dilatation (naive code)")
83 {
84 common_tools::imageDilatationRef(I_Klimt_binarized, connexity);
85 return I_Klimt_binarized;
86 };
87
88 BENCHMARK("Benchmark dilatation (ViSP)")
89 {
90 vpImageMorphology::dilatation(I_Klimt_binarized, (unsigned char)1, (unsigned char)0, connexity);
91 return I_Klimt_binarized;
92 };
93 }
94 }
95
96 SECTION("Erosion")
97 {
98 SECTION("4-connexity")
99 {
101 BENCHMARK("Benchmark erosion (naive code)")
102 {
103 common_tools::imageErosionRef(I_Klimt_binarized, connexity);
104 return I_Klimt_binarized;
105 };
106
107 BENCHMARK("Benchmark erosion (ViSP)")
108 {
109 vpImageMorphology::erosion(I_Klimt_binarized, (unsigned char)1, (unsigned char)0, connexity);
110 return I_Klimt_binarized;
111 };
112 }
113
114 SECTION("8-connexity")
115 {
117 BENCHMARK("Benchmark erosion (naive code)")
118 {
119 common_tools::imageErosionRef(I_Klimt_binarized, connexity);
120 return I_Klimt_binarized;
121 };
122
123 BENCHMARK("Benchmark erosion (ViSP)")
124 {
125 vpImageMorphology::erosion(I_Klimt_binarized, (unsigned char)1, (unsigned char)0, connexity);
126 return I_Klimt_binarized;
127 };
128 }
129 }
130}
131
132#if (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_IMGPROC)
133TEST_CASE("Benchmark gray image morphology", "[benchmark]")
134{
135 std::string imagePath = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
137 vpImageIo::read(I, imagePath);
138
139 cv::Mat img, imgMorph;
141 vpImageConvert::convert(I, imgMorph);
142 cv::Mat cross_SE = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3, 3));
143 cv::Mat rect_SE = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3));
144
145 SECTION("Dilatation")
146 {
147 SECTION("4-connexity")
148 {
150 BENCHMARK("Benchmark dilatation (naive code)")
151 {
152 common_tools::imageDilatationRef(I, connexity);
153 return I;
154 };
155
156 BENCHMARK("Benchmark dilatation (ViSP)")
157 {
158 vpImageMorphology::dilatation<unsigned char>(I, connexity);
159 return I;
160 };
161
162 BENCHMARK("Benchmark dilatation (OpenCV)")
163 {
164 cv::morphologyEx(imgMorph, imgMorph, cv::MORPH_DILATE, cross_SE);
165 return I;
166 };
167 }
168
169 SECTION("8-connexity")
170 {
172 BENCHMARK("Benchmark dilatation (naive code)")
173 {
174 common_tools::imageDilatationRef(I, connexity);
175 return I;
176 };
177
178 BENCHMARK("Benchmark dilatation (ViSP)")
179 {
180 vpImageMorphology::dilatation<unsigned char>(I, connexity);
181 return I;
182 };
183
184 BENCHMARK("Benchmark dilatation (OpenCV)")
185 {
186 cv::morphologyEx(imgMorph, imgMorph, cv::MORPH_DILATE, rect_SE);
187 return I;
188 };
189 }
190 }
191
192 SECTION("Erosion")
193 {
194 SECTION("4-connexity")
195 {
197 BENCHMARK("Benchmark erosion (naive code)")
198 {
199 common_tools::imageErosionRef(I, connexity);
200 return I;
201 };
202
203 BENCHMARK("Benchmark erosion (ViSP)")
204 {
205 vpImageMorphology::erosion<unsigned char>(I, connexity);
206 return I;
207 };
208
209 BENCHMARK("Benchmark dilatation (OpenCV)")
210 {
211 cv::morphologyEx(imgMorph, imgMorph, cv::MORPH_ERODE, cross_SE);
212 return I;
213 };
214 }
215
216 SECTION("8-connexity")
217 {
219 BENCHMARK("Benchmark erosion (naive code)")
220 {
221 common_tools::imageErosionRef(I, connexity);
222 return I;
223 };
224
225 BENCHMARK("Benchmark erosion (ViSP)")
226 {
227 vpImageMorphology::erosion<unsigned char>(I, connexity);
228 return I;
229 };
230
231 BENCHMARK("Benchmark dilatation (OpenCV)")
232 {
233 cv::morphologyEx(imgMorph, imgMorph, cv::MORPH_ERODE, rect_SE);
234 return I;
235 };
236 }
237 }
238}
239#endif
240
241int main(int argc, char *argv [])
242{
243 Catch::Session session; // There must be exactly one instance
244
245 bool runBenchmark = false;
246 // Build a new parser on top of Catch's
247 using namespace Catch::clara;
248 auto cli = session.cli() // Get Catch's composite command line parser
249 | Opt(runBenchmark) // bind variable to a new option, with a hint string
250 ["--benchmark"] // the option names it will respond to
251 ("run benchmark?"); // description string for the help output
252
253 // Now pass the new composite back to Catch so it uses that
254 session.cli(cli);
255
256 // Let Catch (using Clara) parse the command line
257 session.applyCommandLine(argc, argv);
258
259 if (runBenchmark) {
260 int numFailed = session.run();
261
262 // numFailed is clamped to 255 as some unices only use the lower 8 bits.
263 // This clamping has already been applied, so just return it here
264 // You can also do any post run clean-up here
265 return numFailed;
266 }
267
268 return EXIT_SUCCESS;
269}
270#else
271#include <iostream>
272
273int main() { return EXIT_SUCCESS; }
274#endif
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 dilatation(vpImage< Type > &I, Type value, Type value_out, vpConnexityType connexity=CONNEXITY_4)
static void erosion(vpImage< Type > &I, Type value, Type value_out, vpConnexityType connexity=CONNEXITY_4)
static void binarise(vpImage< Type > &I, Type threshold1, Type threshold2, Type value1, Type value2, Type value3, bool useLUT=true)
Definition of the vpImage class member functions.
Definition vpImage.h:135
static std::string getViSPImagesDataPath()
static std::string createFilePath(const std::string &parent, const std::string &child)