test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/img/CImage.h>
#include <mrpt/math/CMatrixF.h>
#include <mrpt/math/fourier.h>
#include <mrpt/system/CTicTac.h>
#include <iostream>

using namespace mrpt;
using namespace mrpt::img;
using namespace mrpt::gui;
using namespace mrpt::math;
using namespace mrpt::system;
using namespace std;

#include <mrpt/examples_config.h>
string myDataDir(MRPT_EXAMPLES_BASE_DIRECTORY + string("img_convolution_fft/"));

// ------------------------------------------------------
//              TestImageConvolutionFFT
// ------------------------------------------------------
void TestImageConvolutionFFT()
{
    CTicTac tictac;
    CImage img;
    CMatrixF imgCorr;

    // ====================  1  ===================
    if (!img.loadFromFile(myDataDir + string("test_image.jpg")))
        throw std::runtime_error("Cannot load test image!");

    printf(
        "Computing %ux%u image convolution ...", (unsigned)img.getWidth(),
        (unsigned)img.getHeight());

    CMatrixF res_R, res_I;

    double meanTime = 0;

    int N = 3;

    // Convolution using FFT 2D:
    for (int nTimes = 0; nTimes < N; nTimes++)
    {
        tictac.Tic();

        size_t x, y;
        size_t actual_lx = img.getWidth();
        size_t actual_ly = img.getHeight();
        size_t lx = mrpt::round2up(actual_lx);
        size_t ly = mrpt::round2up(actual_ly);

        CMatrixF i1(ly, lx), i2;
        // Get as matrixes, padded with zeros up to power-of-two sizes:
        img.getAsMatrix(i1, false);

        // imgWindow.getAsMatrix(i2,false);
        i2.loadFromTextFile(myDataDir + string("test_convolution_window.txt"));
        i2.setSize(ly, lx);

        if (nTimes == 0)
            printf("\nMax real:%f Min real:%f\n", i1.maxCoeff(), i1.minCoeff());

        // FFT:
        CMatrixF I1_R, I1_I, I2_R, I2_I;
        CMatrixF ZEROS(ly, lx);
        math::dft2_complex(i1, ZEROS, I1_R, I1_I);
        math::dft2_complex(i2, ZEROS, I2_R, I2_I);

        // Compute the COMPLEX MULTIPLICATION of I2 by I1:
        for (y = 0; y < ly; y++)
            for (x = 0; x < lx; x++)
            {
                float r1 = I1_R(y, x);
                float r2 = I2_R(y, x);
                float i1 = I1_I(y, x);
                float i2 = I2_I(y, x);

                I2_R(y, x) = r1 * r2 - i1 * i2;
                I2_I(y, x) = r2 * i1 + r1 * i2;
            }

        // IFFT:
        math::idft2_complex(I2_R, I2_I, res_R, res_I);
        res_R *= 1.0f;  // SCALE!

        meanTime += tictac.Tac();
        printf(" Done,%.06fms\n", tictac.Tac() * 1000.0f);
        printf("Max real:%f Min real:%f\n", res_R.maxCoeff(), res_R.minCoeff());
    }

    printf("Mean time: %.06fms\n", 1000.0f * meanTime / N);

    CDisplayWindow winR("real");

    CImage imgR;
    imgR.setFromMatrix(res_R, false /*it is not normalized */);
    winR.showImage(imgR);
    winR.waitForKey();

    //  DEBUG_SAVE_MATRIX(res_R);
    //  DEBUG_SAVE_MATRIX(res_I);
}

// ------------------------------------------------------
//                      MAIN
// ------------------------------------------------------
int main()
{
    try
    {
        TestImageConvolutionFFT();

        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
    catch (...)
    {
        printf("Untyped exception!!");
        return -1;
    }
}