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TestMicroEdgeCorrectionTable.cpp

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#include "EdgeDetection/AdaptiveRasterizer.h"
#include "EdgeDetection/MicroEdgeDetector.h"
#include "EdgeDetection/MicroEdgeCorrectionTable.h"
#include "EdgeDetection/EdgeImage.h"
#include "EdgeDetection/Image.h"

#include <iostream>
#include <fstream>
#include <cmath>
#include <stdlib.h>
#include <time.h>

using namespace std;
using namespace EdgeDetection;

double MeasureError(Rasterizer* rasterizer, MicroEdgeDetector* microEdgeDetector, MicroEdgeCorrectionTable* microEdgeCorrectionTable, Edge realEdge)
{
        EdgeImage* realEdgeImage = new EdgeImage(Line::FromEdge(realEdge), Rectangle(-1, +1, -1, +1));
        Image* realImage = rasterizer->Rasterize(realEdgeImage, 5, 5);
        Edge measuredEdge = microEdgeDetector->DetectEdge(realImage);
        Edge correctedEdge = microEdgeCorrectionTable->Correct(measuredEdge);

        delete realEdgeImage;
        delete realImage;

        double error = Edge::GetDistance(realEdge, correctedEdge);

/*
        if (error > 0.1)
        {
                cout << "Real: [" << realEdge.GetOffset() << ", " << realEdge.GetAngle() << "]" << endl;
                cout << "Measured: [" << measuredEdge.GetOffset() << ", " << measuredEdge.GetAngle() << "]" << endl;
                cout << "Corrected: [" << correctedEdge.GetOffset() << ", " << correctedEdge.GetAngle() << "]" << endl;
                cout << "Error: " << error << endl;
                cout << endl;
        }
*/

        return error;
}
double NextDouble()
{
        return (double)rand() / (double)RAND_MAX;
}

int main(int argc, char** argv)
{
        cout << "Creating Rasterizer (fine)..." << endl;
        Rasterizer* rasterizerFine = new AdaptiveRasterizer(0.00000001);
        cout << "Creating MicroEdgeDetector..." << endl;
        MicroEdgeDetector* microEdgeDetector = new MicroEdgeDetector(rasterizerFine, 5);
        cout << "Loading MicroEdgeCorrectionTable..." << endl;
        ifstream microEdgeCorrectionTableFile("MicroEdgeCorrectionTable.bin", ifstream::in | ifstream::binary);
        MicroEdgeCorrectionTable* microEdgeCorrectionTable = MicroEdgeCorrectionTable::Deserialize(&microEdgeCorrectionTableFile);
        microEdgeCorrectionTableFile.close();
        cout << endl;

        cout << "Generating error statistics..." << endl;

        double errorMinimum = -1;
        double errorMaximum = -1;
        double errorSum = 0;

        srand(time(NULL));

        int sampleCount = 10000;

        for (int i = 0; i < sampleCount; i++)
        {
                Edge realEdge = Edge((1.2 * NextDouble()) - 0.6, (2 * M_PI * NextDouble()) - M_PI);

                double error = MeasureError(rasterizerFine, microEdgeDetector, microEdgeCorrectionTable, realEdge);

                if (errorMinimum == -1 || error < errorMinimum) errorMinimum = error;
                if (errorMaximum == -1 || error > errorMaximum) errorMaximum = error;
                errorSum += error;
        }

        double errorAverage = errorSum / sampleCount;

        cout << "Errors: Minimum: " << errorMinimum << ", Maximum: " << errorMaximum << ", Average: " << errorAverage << endl;

        delete rasterizerFine;
        delete microEdgeDetector;
        delete microEdgeCorrectionTable;

        return 0;
}

---

aruco_pose
Author(s): Julian Brunner
autogenerated on Tue Dec 4 01:11:17 2012