Runtime Benchmarks

- Added QR and Micro QR
Rendering
- Added a simple function for rendering micro qr codes as an image

change.txt

@@ -15,13 +15,12 @@ Version : 0.41
   - Much stricter and more accurate test that looks for UTF-8 strings in BYTE data
   - Config has defaultEncoding which is the encoding it uses if it decides BYTE isn't UTF-8
   - Added an example demonstrating how raw data can be used ExampleQrCodeRawData
+  - Added JMH Benchmarks for regression testing
 - SLAM
   - TODO Monocular
   - TODO Stereo
 - Calibration
   - TODO calibration targets Hamming Marker grid and chessboard, e.g. ChArUco and ArUco grids.
-- Testing
-  - TODO make sure Micro QR and QR are in JMH benchmarks
 - Concurrency
   - Added threaded KLT tracker
 - Regression

examples/src/main/java/boofcv/examples/fiducial/ExampleRenderMicroQrCode.java

@@ -18,12 +18,12 @@
 
 package boofcv.examples.fiducial;
 
-import boofcv.alg.drawing.FiducialImageEngine;
 import boofcv.alg.fiducial.microqr.MicroQrCode;
 import boofcv.alg.fiducial.microqr.MicroQrCodeEncoder;
 import boofcv.alg.fiducial.microqr.MicroQrCodeGenerator;
 import boofcv.gui.image.ShowImages;
 import boofcv.io.image.ConvertBufferedImage;
+import boofcv.struct.image.GrayU8;
 
 import java.awt.image.BufferedImage;
 
@@ -43,20 +43,16 @@ public static void main( String[] args ) {
 				addAutomatic("Test ん鞠").fixate();
 		// NOTE: The final function you call must be fixate(), that's how it knows it's done
 
-		// FiducialImageEngine is an interface for rending to images. You can also render to PDF and other formats.
-		var render = new FiducialImageEngine();
-		render.configure(/* border */ 10, /* width */ 500);
-
-		// Render the marker after configuring the generator
-		new MicroQrCodeGenerator().setMarkerWidth(500).setRender(render).render(qr);
+		// Render the QR as an image. It's also possible to render as a PDF or your own custom format
+		GrayU8 rendered = MicroQrCodeGenerator.renderImage(/* pixel per module */ 10, /* border modules*/ 1, qr);
 
 		// Convert it to a BufferedImage for display purposes
-		BufferedImage image = ConvertBufferedImage.convertTo(render.getGray(), null);
+		BufferedImage output = ConvertBufferedImage.convertTo(rendered, null);
 
 		// You can also save it to disk by uncommenting the line below
-//		UtilImageIO.saveImage(image, "microqr.png");
+//		UtilImageIO.saveImage(output, "microqr.png");
 
 		// Display the image
-		ShowImages.showWindow(image, "Rendered Micro QR Code", true);
+		ShowImages.showWindow(output, "Rendered Micro QR Code", true);
 	}
 }

main/boofcv-recognition/src/benchmark/java/boofcv/abst/fiducial/BenchmarkMicroQrCodeDetector.java

@@ -0,0 +1,101 @@
+/*
+ * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ *
+ * This file is part of BoofCV (http://boofcv.org).
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package boofcv.abst.fiducial;
+
+import boofcv.BoofTesting;
+import boofcv.abst.distort.FDistort;
+import boofcv.alg.fiducial.microqr.MicroQrCode;
+import boofcv.alg.fiducial.microqr.MicroQrCodeEncoder;
+import boofcv.alg.fiducial.microqr.MicroQrCodeGenerator;
+import boofcv.alg.misc.GImageMiscOps;
+import boofcv.factory.fiducial.FactoryFiducial;
+import boofcv.misc.BoofMiscOps;
+import boofcv.struct.image.GrayU8;
+import org.openjdk.jmh.annotations.*;
+import org.openjdk.jmh.runner.Runner;
+import org.openjdk.jmh.runner.RunnerException;
+import org.openjdk.jmh.runner.options.Options;
+import org.openjdk.jmh.runner.options.OptionsBuilder;
+import org.openjdk.jmh.runner.options.TimeValue;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Random;
+import java.util.concurrent.TimeUnit;
+
+@BenchmarkMode(Mode.AverageTime)
+@OutputTimeUnit(TimeUnit.NANOSECONDS)
+@Warmup(iterations = 2)
+@Measurement(iterations = 3)
+@State(Scope.Benchmark)
+@Fork(value = 1)
+public class BenchmarkMicroQrCodeDetector {
+
+	List<GrayU8> images = new ArrayList<>();
+
+	MicroQrCodeDetector<GrayU8> detector = FactoryFiducial.microqr(null, GrayU8.class);
+
+	/**
+	 * Generate a set of synthetic images with two markers in it to test against
+	 */
+	@Setup public void setup() {
+		var rand = new Random(BoofTesting.BASE_SEED);
+		MicroQrCode qr1 = new MicroQrCodeEncoder().addAutomatic("1").fixate();
+		MicroQrCode qr2 = new MicroQrCodeEncoder().addAutomatic("ALPHA NUMERIC 123").fixate();
+
+		GrayU8 image1 = MicroQrCodeGenerator.renderImage(5, 2, qr1);
+		GrayU8 image2 = MicroQrCodeGenerator.renderImage(5, 2, qr2);
+
+		var fullImage = new GrayU8(image1.width + image2.width + 50, image1.width + image2.width + 100);
+		GImageMiscOps.fillUniform(fullImage, rand, 50, 150);
+
+		GImageMiscOps.copy(0, 0, 10, 15, image1.width, image1.height, image1, fullImage);
+		GImageMiscOps.copy(0, 0, 20 + image1.width, 50, image2.width, image2.height, image2, fullImage);
+
+		images.add(fullImage);
+
+		// manually checked that all the distorted images have markers inside the image
+		for (int i = 0; i < 4; i++) {
+			GrayU8 distorted = fullImage.createSameShape();
+			new FDistort(fullImage, distorted).affine(
+					1.0, rand.nextGaussian()*0.01,
+					rand.nextGaussian()*0.01, 1.0,
+					rand.nextGaussian()*0.5, rand.nextGaussian()*0.5).apply();
+			images.add(distorted);
+		}
+	}
+
+	@Benchmark public void qrcode() {
+		for (int imageIdx = 0; imageIdx < images.size(); imageIdx++) {
+			detector.process(images.get(imageIdx));
+			// sanity check to make sure everything is running as expected
+			BoofMiscOps.checkEq(2, detector.getDetections().size());
+		}
+	}
+
+	public static void main( String[] args ) throws RunnerException {
+		Options opt = new OptionsBuilder()
+				.include(BenchmarkMicroQrCodeDetector.class.getSimpleName())
+				.warmupTime(TimeValue.seconds(1))
+				.measurementTime(TimeValue.seconds(1))
+				.build();
+
+		new Runner(opt).run();
+	}
+}

main/boofcv-recognition/src/benchmark/java/boofcv/abst/fiducial/BenchmarkQrCodeDetector.java

@@ -0,0 +1,101 @@
+/*
+ * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ *
+ * This file is part of BoofCV (http://boofcv.org).
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package boofcv.abst.fiducial;
+
+import boofcv.BoofTesting;
+import boofcv.abst.distort.FDistort;
+import boofcv.alg.fiducial.qrcode.QrCode;
+import boofcv.alg.fiducial.qrcode.QrCodeEncoder;
+import boofcv.alg.fiducial.qrcode.QrCodeGeneratorImage;
+import boofcv.alg.misc.GImageMiscOps;
+import boofcv.factory.fiducial.FactoryFiducial;
+import boofcv.misc.BoofMiscOps;
+import boofcv.struct.image.GrayU8;
+import org.openjdk.jmh.annotations.*;
+import org.openjdk.jmh.runner.Runner;
+import org.openjdk.jmh.runner.RunnerException;
+import org.openjdk.jmh.runner.options.Options;
+import org.openjdk.jmh.runner.options.OptionsBuilder;
+import org.openjdk.jmh.runner.options.TimeValue;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Random;
+import java.util.concurrent.TimeUnit;
+
+@BenchmarkMode(Mode.AverageTime)
+@OutputTimeUnit(TimeUnit.NANOSECONDS)
+@Warmup(iterations = 2)
+@Measurement(iterations = 3)
+@State(Scope.Benchmark)
+@Fork(value = 1)
+public class BenchmarkQrCodeDetector {
+
+	List<GrayU8> images = new ArrayList<>();
+
+	QrCodeDetector<GrayU8> detector = FactoryFiducial.qrcode(null, GrayU8.class);
+
+	/**
+	 * Generate a set of synthetic images with two markers in it to test against
+	 */
+	@Setup public void setup() {
+		var rand = new Random(BoofTesting.BASE_SEED);
+		QrCode qr1 = new QrCodeEncoder().addAutomatic("small").fixate();
+		QrCode qr2 = new QrCodeEncoder().addAutomatic("Much Larger Than the Oth9er!!#").fixate();
+
+		GrayU8 image1 = new QrCodeGeneratorImage(5).render(qr1).getGray();
+		GrayU8 image2 = new QrCodeGeneratorImage(5).render(qr2).getGray();
+
+		var fullImage = new GrayU8(image1.width + image2.width + 50, image1.width + image2.width + 100);
+		GImageMiscOps.fillUniform(fullImage, rand, 50, 150);
+
+		GImageMiscOps.copy(0, 0, 10, 15, image1.width, image1.height, image1, fullImage);
+		GImageMiscOps.copy(0, 0, 20 + image1.width, 50, image2.width, image2.height, image2, fullImage);
+
+		images.add(fullImage);
+
+		// manually checked that all the distorted images have markers inside the image
+		for (int i = 0; i < 4; i++) {
+			GrayU8 distorted = fullImage.createSameShape();
+			new FDistort(fullImage, distorted).affine(
+					1.0 + rand.nextGaussian()*0.1, rand.nextGaussian()*0.01,
+					rand.nextGaussian()*0.01, 1.0 + rand.nextGaussian()*0.1,
+					rand.nextGaussian()*0.5, rand.nextGaussian()*0.5).apply();
+			images.add(distorted);
+		}
+	}
+
+	@Benchmark public void qrcode() {
+		for (int imageIdx = 0; imageIdx < images.size(); imageIdx++) {
+			detector.process(images.get(imageIdx));
+			// sanity check to make sure everything is running as expected
+			BoofMiscOps.checkEq(2, detector.getDetections().size());
+		}
+	}
+
+	public static void main( String[] args ) throws RunnerException {
+		Options opt = new OptionsBuilder()
+				.include(BenchmarkQrCodeDetector.class.getSimpleName())
+				.warmupTime(TimeValue.seconds(1))
+				.measurementTime(TimeValue.seconds(1))
+				.build();
+
+		new Runner(opt).run();
+	}
+}

main/boofcv-recognition/src/main/java/boofcv/alg/fiducial/microqr/MicroQrCodeGenerator.java

@@ -18,9 +18,11 @@
 
 package boofcv.alg.fiducial.microqr;
 
+import boofcv.alg.drawing.FiducialImageEngine;
 import boofcv.alg.fiducial.qrcode.PackedBits32;
 import boofcv.alg.fiducial.qrcode.QrCodeCodeWordLocations;
 import boofcv.alg.fiducial.qrcode.QrGeneratorBase;
+import boofcv.struct.image.GrayU8;
 import georegression.struct.point.Point2D_I32;
 
 /**
@@ -29,6 +31,16 @@
  * @author Peter Abeles
  */
 public class MicroQrCodeGenerator extends QrGeneratorBase<MicroQrCodeGenerator> {
+
+	/** Convenience function for rendering images */
+	public static GrayU8 renderImage( int pixelPerModule, int border, MicroQrCode qr ) {
+		int numModules = MicroQrCode.totalModules(qr.version);
+		var render = new FiducialImageEngine();
+		render.configure(pixelPerModule*border, numModules*pixelPerModule);
+		new MicroQrCodeGenerator().setMarkerWidth(numModules*pixelPerModule).setRender(render).render(qr);
+		return render.getGray();
+	}
+
 	public MicroQrCodeGenerator render( MicroQrCode qr ) {
 		numModules = MicroQrCode.totalModules(qr.version);
 		moduleWidth = markerWidth/numModules;