feat(interzonSinusFourGrayscalePattern.hpp/.cpp/...): new pattern met…

…hod. 1. support interzon sinus fourgray scale pattern.(detail see paper @cite) 2. add precise test and perfermance test for pattern.
Practice3DVision · Apr 14, 2024 · a0d0447 · a0d0447
1 parent 677de63
commit a0d0447
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Showing 10 changed files with 543 additions and 251 deletions.
diff --git a/perf/CMakeLists.txt b/perf/CMakeLists.txt
@@ -34,4 +34,16 @@ target_link_libraries(
     PRIVATE
     benchmark::benchmark
     slmaster
+)
+
+add_executable(
+    PerfInterzoneSinusFourGrayscalePattern
+    ${CMAKE_CURRENT_SOURCE_DIR}/perfInterzoneSinusFourGrayscalePattern.cpp
+)
+
+target_link_libraries(
+    PerfInterzoneSinusFourGrayscalePattern
+    PRIVATE
+    benchmark::benchmark
+    slmaster
 )
diff --git a/perf/perfInterzoneSinusFourGrayscalePattern.cpp b/perf/perfInterzoneSinusFourGrayscalePattern.cpp
@@ -0,0 +1,61 @@
+#include <benchmark/benchmark.h>
+
+#include <slmaster.h>
+
+using namespace slmaster;
+using namespace slmaster::algorithm;
+using namespace std;
+using namespace cv;
+
+class InterzoneSinusFourGrayscalePatternSuit : public benchmark::Fixture {
+  public:
+    void SetUp(const benchmark::State &) override {}
+};
+
+BENCHMARK_DEFINE_F(InterzoneSinusFourGrayscalePatternSuit, testGenerate)
+(benchmark::State &state) {
+    auto params = InterzoneSinusFourGrayscalePattern::Params();
+    params.shiftTime = 3;
+    params.height = 1080;
+    params.width = 1920;
+    params.horizontal = false;
+    params.nbrOfPeriods = 16;
+
+    auto pattern = InterzoneSinusFourGrayscalePattern::create(params);
+
+    vector<Mat> imgs;
+
+    for (auto _ : state) {
+        pattern->generate(imgs);
+    }
+}
+
+BENCHMARK_DEFINE_F(InterzoneSinusFourGrayscalePatternSuit, testUnwrap)
+(benchmark::State &state) {
+    auto params = InterzoneSinusFourGrayscalePattern::Params();
+    params.shiftTime = 3;
+    params.height = 1080;
+    params.width = 1920;
+    params.horizontal = false;
+    params.nbrOfPeriods = 16;
+
+    auto pattern = InterzoneSinusFourGrayscalePattern::create(params);
+
+    vector<Mat> imgs;
+    pattern->generate(imgs);
+
+    Mat wrappedPhaseMap, floorMap, confidenceMap, unwrapPhaseMap;
+
+    for (auto _ : state) {
+        pattern->computePhaseMap(imgs, wrappedPhaseMap);
+        pattern->computeConfidenceMap(imgs, confidenceMap);
+        pattern->computeFloorMap(imgs, confidenceMap, floorMap);
+        pattern->unwrapPhaseMap(wrappedPhaseMap, confidenceMap, floorMap,
+                                unwrapPhaseMap);
+    }
+}
+
+BENCHMARK_REGISTER_F(InterzoneSinusFourGrayscalePatternSuit, testGenerate)->MeasureProcessCPUTime()->UseRealTime()->Unit(benchmark::TimeUnit::kMillisecond);
+BENCHMARK_REGISTER_F(InterzoneSinusFourGrayscalePatternSuit, testUnwrap)->MeasureProcessCPUTime()->UseRealTime()->Unit(benchmark::TimeUnit::kMillisecond);
+
+BENCHMARK_MAIN();
diff --git a/perf/perfLaserLine.cpp b/perf/perfLaserLine.cpp
@@ -12,82 +12,99 @@ using namespace std;
 const string laserLineImgsPath = "../../data/laserLine/";
 
 class LaserLineSuit : public benchmark::Fixture {
-    protected:
-        void SetUp(const benchmark::State &) override {
-            auto background = imread(laserLineImgsPath + "21.bmp", 0);
-            auto front = imread(laserLineImgsPath + "21-laser.bmp", 0);
-            mask = front - background;
-            threshold(mask, mask, 0, 255, THRESH_OTSU);
-            img = front.clone();
-
-            int xBegin = INT_MAX, xEnd = -INT_MAX, yBegin = INT_MAX, yEnd = -INT_MAX;
-            for (int i = 0; i < background.rows; ++i) {
-                auto ptrBackground = background.ptr<uchar>(i);
-                auto ptrFront = front.ptr<uchar>(i);
-                auto ptrMask = mask.ptr<uchar>(i);
-
-                for (int j = 0; j < background.cols; ++j) {
-                    if(ptrMask[j] != 0) {
-                        xBegin = xBegin > j ? j : xBegin;
-                        xEnd = xEnd < j ? j : xEnd;
-                        yBegin = yBegin > i ? i : yBegin;
-                        yEnd = yEnd < i ? i : yEnd;
-                    }
+  protected:
+    void SetUp(const benchmark::State &) override {
+        auto background = imread(laserLineImgsPath + "21.bmp", 0);
+        auto front = imread(laserLineImgsPath + "21-laser.bmp", 0);
+        mask = front - background;
+        threshold(mask, mask, 0, 255, THRESH_OTSU);
+        img = front.clone();
+
+        int xBegin = INT_MAX, xEnd = -INT_MAX, yBegin = INT_MAX,
+            yEnd = -INT_MAX;
+        for (int i = 0; i < background.rows; ++i) {
+            auto ptrBackground = background.ptr<uchar>(i);
+            auto ptrFront = front.ptr<uchar>(i);
+            auto ptrMask = mask.ptr<uchar>(i);
+
+            for (int j = 0; j < background.cols; ++j) {
+                if (ptrMask[j] != 0) {
+                    xBegin = xBegin > j ? j : xBegin;
+                    xEnd = xEnd < j ? j : xEnd;
+                    yBegin = yBegin > i ? i : yBegin;
+                    yEnd = yEnd < i ? i : yEnd;
                 }
             }
+        }
 
-            GaussianBlur(img, img, Size(9, 9), 0, 0);
+        GaussianBlur(img, img, Size(9, 9), 0, 0);
+
+        calibrateImgs.emplace_back(imread(laserLineImgsPath + "21.bmp", 0));
+        calibrateImgs.emplace_back(
+            imread(laserLineImgsPath + "21-laser.bmp", 0));
+        calibrateImgs.emplace_back(imread(laserLineImgsPath + "22.bmp", 0));
+        calibrateImgs.emplace_back(
+            imread(laserLineImgsPath + "22-laser.bmp", 0));
+        calibrateImgs.emplace_back(imread(laserLineImgsPath + "23.bmp", 0));
+        calibrateImgs.emplace_back(
+            imread(laserLineImgsPath + "23-laser.bmp", 0));
+        calibrateImgs.emplace_back(imread(laserLineImgsPath + "24.bmp", 0));
+        calibrateImgs.emplace_back(
+            imread(laserLineImgsPath + "24-laser.bmp", 0));
+    }
 
-            calibrateImgs.emplace_back(imread(laserLineImgsPath + "21.bmp", 0));
-            calibrateImgs.emplace_back(imread(laserLineImgsPath + "21-laser.bmp", 0));
-            calibrateImgs.emplace_back(imread(laserLineImgsPath + "22.bmp", 0));
-            calibrateImgs.emplace_back(imread(laserLineImgsPath + "22-laser.bmp", 0));
-            calibrateImgs.emplace_back(imread(laserLineImgsPath + "23.bmp", 0));
-            calibrateImgs.emplace_back(imread(laserLineImgsPath + "23-laser.bmp", 0));
-            calibrateImgs.emplace_back(imread(laserLineImgsPath + "24.bmp", 0));
-            calibrateImgs.emplace_back(imread(laserLineImgsPath + "24-laser.bmp", 0));
-        }
-
-        Mat img;
-        Mat mask;
-        vector<Mat> calibrateImgs;
+    Mat img;
+    Mat mask;
+    vector<Mat> calibrateImgs;
 };
 
-BENCHMARK_DEFINE_F(LaserLineSuit, testStegerExtract)(benchmark::State& state) {
+BENCHMARK_DEFINE_F(LaserLineSuit, testStegerExtract)(benchmark::State &state) {
     vector<Point2f> outPoints;
 
     for (auto _ : state) {
         stegerExtract(img, outPoints, mask);
     }
 }
 
-BENCHMARK_DEFINE_F(LaserLineSuit, testCalibration)(benchmark::State& state){
+BENCHMARK_DEFINE_F(LaserLineSuit, testCalibration)(benchmark::State &state) {
     CaliInfo info(laserLineImgsPath + "caliInfo.yml");
 
     HiddenMethodCalibrator calibrator;
-    Calibrator* chessCalibrator = new ChessBoardCalibrator();
+    Calibrator *chessCalibrator = new ChessBoardCalibrator();
     calibrator.setCalibrator(chessCalibrator);
 
     for (auto _ : state) {
-        calibrator.calibration(calibrateImgs, info.info_.M1_, info.info_.D1_, Size(11, 8), 20.f, info.info_.lightPlaneEq_, false);
+        calibrator.calibration(calibrateImgs, info.info_.M1_, info.info_.D1_,
+                               Size(11, 8), 20.f, info.info_.lightPlaneEq_,
+                               false);
     }
 }
 
-BENCHMARK_DEFINE_F(LaserLineSuit, testRecoverDepth)(benchmark::State& state){
+BENCHMARK_DEFINE_F(LaserLineSuit, testRecoverDepth)(benchmark::State &state) {
     CaliInfo info(laserLineImgsPath + "caliInfo.yml");
 
     vector<Point2f> points2D;
     stegerExtract(img, points2D, mask);
-    
+
     vector<Point3f> points3D;
 
-    for(auto _ : state) {
-        recoverDepthFromLightPlane(points2D, info.info_.lightPlaneEq_, info.info_.M1_, points3D);
+    for (auto _ : state) {
+        recoverDepthFromLightPlane(points2D, info.info_.lightPlaneEq_,
+                                   info.info_.M1_, points3D);
     }
 }
 
-BENCHMARK_REGISTER_F(LaserLineSuit, testStegerExtract)->MeasureProcessCPUTime()->UseRealTime()->Unit(benchmark::TimeUnit::kMillisecond);
-BENCHMARK_REGISTER_F(LaserLineSuit, testCalibration)->MeasureProcessCPUTime()->UseRealTime()->Unit(benchmark::TimeUnit::kMillisecond);
-BENCHMARK_REGISTER_F(LaserLineSuit, testRecoverDepth)->MeasureProcessCPUTime()->UseRealTime()->Unit(benchmark::TimeUnit::kMillisecond);
+BENCHMARK_REGISTER_F(LaserLineSuit, testStegerExtract)
+    ->MeasureProcessCPUTime()
+    ->UseRealTime()
+    ->Unit(benchmark::TimeUnit::kMillisecond);
+BENCHMARK_REGISTER_F(LaserLineSuit, testCalibration)
+    ->MeasureProcessCPUTime()
+    ->UseRealTime()
+    ->Unit(benchmark::TimeUnit::kMillisecond);
+BENCHMARK_REGISTER_F(LaserLineSuit, testRecoverDepth)
+    ->MeasureProcessCPUTime()
+    ->UseRealTime()
+    ->Unit(benchmark::TimeUnit::kMillisecond);
 
 BENCHMARK_MAIN();
diff --git a/perf/perfShiftGrayCodePattern.cpp b/perf/perfShiftGrayCodePattern.cpp
@@ -8,13 +8,12 @@ using namespace std;
 using namespace cv;
 
 class ShiftGrayCodePatternSuit : public benchmark::Fixture {
-    public:
-        void SetUp(const benchmark::State &) override{
-
-        }
+  public:
+    void SetUp(const benchmark::State &) override {}
 };
 
-BENCHMARK_DEFINE_F(ShiftGrayCodePatternSuit, testGenerate)(benchmark::State& state) {
+BENCHMARK_DEFINE_F(ShiftGrayCodePatternSuit, testGenerate)
+(benchmark::State &state) {
     auto params = SinusShiftGrayCodePattern::Params();
     params.shiftTime = 4;
     params.height = 1080;
@@ -31,7 +30,8 @@ BENCHMARK_DEFINE_F(ShiftGrayCodePatternSuit, testGenerate)(benchmark::State& sta
     }
 }
 
-BENCHMARK_DEFINE_F(ShiftGrayCodePatternSuit, testUnwrap)(benchmark::State& state) {
+BENCHMARK_DEFINE_F(ShiftGrayCodePatternSuit, testUnwrap)
+(benchmark::State &state) {
     auto params = SinusShiftGrayCodePattern::Params();
     params.shiftTime = 4;
     params.height = 1080;
@@ -54,7 +54,13 @@ BENCHMARK_DEFINE_F(ShiftGrayCodePatternSuit, testUnwrap)(benchmark::State& state
     }
 }
 
-BENCHMARK_REGISTER_F(ShiftGrayCodePatternSuit, testGenerate)->MeasureProcessCPUTime()->UseRealTime()->Unit(benchmark::TimeUnit::kMillisecond);
-BENCHMARK_REGISTER_F(ShiftGrayCodePatternSuit, testUnwrap)->MeasureProcessCPUTime()->UseRealTime()->Unit(benchmark::TimeUnit::kMillisecond);
+BENCHMARK_REGISTER_F(ShiftGrayCodePatternSuit, testGenerate)
+    ->MeasureProcessCPUTime()
+    ->UseRealTime()
+    ->Unit(benchmark::TimeUnit::kMillisecond);
+BENCHMARK_REGISTER_F(ShiftGrayCodePatternSuit, testUnwrap)
+    ->MeasureProcessCPUTime()
+    ->UseRealTime()
+    ->Unit(benchmark::TimeUnit::kMillisecond);
 
 BENCHMARK_MAIN();