Visual Servoing Platform  version 3.2.0 under development (2018-12-12)
testConnectedComponents.cpp

Test connected components.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test connected components.
*
* Authors:
* Souriya Trinh
*
*****************************************************************************/
#include <map>
#include <set>
#include <visp3/core/vpImageTools.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/imgproc/vpImgproc.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
// List of allowed command line options
#define GETOPTARGS "cdi:o:h"
void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user);
bool checkLabels(const vpImage<int> &label1, const vpImage<int> &label2);
/*
Print the program options.
\param name : Program name.
\param badparam : Bad parameter name.
\param ipath: Input image path.
\param opath : Output image path.
\param user : Username.
*/
void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user)
{
fprintf(stdout, "\n\
Test connected components.\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-o <output image path>]\n\
[-h]\n \
", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <input image path> %s\n\
Set image input path.\n\
From this path read \"Klimt/Klimt.pgm\"\n\
image.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-o <output image path> %s\n\
Set image output path.\n\
From this directory, creates the \"%s\"\n\
subdirectory depending on the username, where \n\
output result images are written.\n\
\n\
-h\n\
Print the help.\n\n", ipath.c_str(), opath.c_str(), user.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'i':
ipath = optarg_;
break;
case 'o':
opath = optarg_;
break;
case 'h':
usage(argv[0], NULL, ipath, opath, user);
return false;
break;
case 'c':
case 'd':
break;
default:
usage(argv[0], optarg_, ipath, opath, user);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, ipath, opath, user);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
bool checkLabels(const vpImage<int> &label1, const vpImage<int> &label2)
{
if (label1.getHeight() != label2.getHeight() || label1.getWidth() != label2.getWidth())
return false;
std::map<int, std::vector<vpImagePoint> > map_label1, map_label2;
for (unsigned int i = 0; i < label1.getHeight(); i++) {
for (unsigned int j = 0; j < label1.getWidth(); j++) {
if ((label1[i][j] > 0 && label2[i][j] == 0) || (label1[i][j] == 0 && label2[i][j] > 0)) {
std::cerr << "label1[i][j] > 0 && label2[i][j] == 0 || label1[i][j] "
"== 0 && label2[i][j] > 0"
<< std::endl;
return false;
}
if (label1[i][j])
map_label1[label1[i][j]].push_back(vpImagePoint(i, j));
if (label2[i][j])
map_label2[label2[i][j]].push_back(vpImagePoint(i, j));
}
}
if (map_label1.size() != map_label2.size()) {
std::cerr << "map_label1.size() != map_label2.size()" << std::endl;
return false;
}
for (std::map<int, std::vector<vpImagePoint> >::const_iterator it1 = map_label1.begin(); it1 != map_label1.end();
++it1) {
// Get corresponding label in the other method
unsigned int i = (unsigned int)it1->second.front().get_i(), j = (unsigned int)it1->second.front().get_j();
int lab2 = label2[i][j];
std::vector<vpImagePoint>::const_iterator it_pt1 = it1->second.begin();
for (; it_pt1 != it1->second.end(); ++it_pt1) {
i = (unsigned int)it_pt1->get_i();
j = (unsigned int)it_pt1->get_j();
if (label2[i][j] != lab2) {
std::cerr << "label2[i][j] != lab2" << std::endl;
return false;
}
}
}
return true;
}
int main(int argc, const char **argv)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string opt_opath;
std::string ipath;
std::string opath;
std::string filename;
std::string username;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// Set the default input path
if (!env_ipath.empty())
ipath = env_ipath;
// Set the default output path
#if defined(_WIN32)
opt_opath = "C:/temp";
#else
opt_opath = "/tmp";
#endif
// Get the user login name
// Read the command line options
if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
exit(EXIT_FAILURE);
}
// Get the option values
if (!opt_ipath.empty())
ipath = opt_ipath;
if (!opt_opath.empty())
opath = opt_opath;
// Append to the output path string, the login name of the user
opath = vpIoTools::createFilePath(opath, username);
// Test if the output path exist. If no try to create it
if (vpIoTools::checkDirectory(opath) == false) {
try {
// Create the dirname
} catch (...) {
usage(argv[0], NULL, ipath, opt_opath, username);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot create " << opath << std::endl;
std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
exit(EXIT_FAILURE);
}
}
// Compare ipath and env_ipath. If they differ, we take into account
// the input path comming from the command line option
if (!opt_ipath.empty() && !env_ipath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl << "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
// Test if an input path is set
if (opt_ipath.empty() && env_ipath.empty()) {
usage(argv[0], NULL, ipath, opt_opath, username);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< std::endl;
exit(EXIT_FAILURE);
}
//
// Here starts really the test
//
// Read Klimt.ppm
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
std::cout << "Read image: " << filename << std::endl;
vpImageIo::read(I, filename);
vpImageTools::binarise(I, (unsigned char)127, (unsigned char)255, (unsigned char)0, (unsigned char)255,
(unsigned char)255);
std::cout << "Image: " << I.getWidth() << "x" << I.getHeight() << std::endl;
vpImage<int> labels_connex4;
int nbComponents = 0;
double t = vpTime::measureTimeMs();
vp::connectedComponents(I, labels_connex4, nbComponents, vpImageMorphology::CONNEXITY_4);
std::cout << "\n4-connexity connected components:" << std::endl;
std::cout << "Time: " << t << " ms" << std::endl;
std::cout << "nbComponents=" << nbComponents << std::endl;
vpImage<int> labels_connex8;
vp::connectedComponents(I, labels_connex8, nbComponents, vpImageMorphology::CONNEXITY_8);
std::cout << "\n8-connexity connected components:" << std::endl;
std::cout << "Time: " << t << " ms" << std::endl;
std::cout << "nbComponents=" << nbComponents << std::endl;
// Save results
vpImage<vpRGBa> labels_connex4_color(labels_connex4.getHeight(), labels_connex4.getWidth(), vpRGBa(0, 0, 0, 0));
for (unsigned int i = 0; i < labels_connex4.getHeight(); i++) {
for (unsigned int j = 0; j < labels_connex4.getWidth(); j++) {
if (labels_connex4[i][j] != 0) {
labels_connex4_color[i][j] = vpRGBa(vpColor::getColor((unsigned int)labels_connex4[i][j]).R,
vpColor::getColor((unsigned int)labels_connex4[i][j]).G,
vpColor::getColor((unsigned int)labels_connex4[i][j]).B);
}
}
}
filename = vpIoTools::createFilePath(opath, "Klimt_connected_components_4.ppm");
vpImageIo::write(labels_connex4_color, filename);
vpImage<vpRGBa> labels_connex8_color(labels_connex8.getHeight(), labels_connex8.getWidth(), vpRGBa(0, 0, 0, 0));
for (unsigned int i = 0; i < labels_connex8.getHeight(); i++) {
for (unsigned int j = 0; j < labels_connex8.getWidth(); j++) {
if (labels_connex8[i][j] != 0) {
labels_connex8_color[i][j] = vpRGBa(vpColor::getColor((unsigned int)labels_connex8[i][j]).R,
vpColor::getColor((unsigned int)labels_connex8[i][j]).G,
vpColor::getColor((unsigned int)labels_connex8[i][j]).B);
}
}
}
filename = vpIoTools::createFilePath(opath, "Klimt_connected_components_8.ppm");
vpImageIo::write(labels_connex8_color, filename);
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
cv::Mat matImg;
cv::Mat matLabels_4;
double t_opencv = vpTime::measureTimeMs();
cv::connectedComponents(matImg, matLabels_4, 4);
t_opencv = vpTime::measureTimeMs() - t_opencv;
std::set<int> set_labels_connex4_opencv;
vpImage<int> labels_connex4_opencv((unsigned int)matLabels_4.rows, (unsigned int)matLabels_4.cols);
for (int i = 0; i < matLabels_4.rows; i++) {
for (int j = 0; j < matLabels_4.cols; j++) {
labels_connex4_opencv[i][j] = matLabels_4.at<int>(i, j);
if (matLabels_4.at<int>(i, j))
set_labels_connex4_opencv.insert(matLabels_4.at<int>(i, j));
}
}
std::cout << "\n4-connexity connected components (OpenCV):" << std::endl;
std::cout << "Time: " << t_opencv << " ms" << std::endl;
std::cout << "nb components: " << set_labels_connex4_opencv.size() << std::endl;
bool check_label = checkLabels(labels_connex4_opencv, labels_connex4);
std::cout << "checkLabels(labels_connex4_opencv, labels_connex4): " << check_label << std::endl;
// std::cout << "(labels_connex4_opencv == labels_connex4)? " <<
// (labels_connex4_opencv == labels_connex4) << std::endl;
if (!check_label) {
throw vpException(vpException::fatalError, "(labels_connex4_opencv != labels_connex4)");
}
cv::Mat matLabels_8;
t_opencv = vpTime::measureTimeMs();
cv::connectedComponents(matImg, matLabels_8, 8);
t_opencv = vpTime::measureTimeMs() - t_opencv;
std::set<int> set_labels_connex8_opencv;
vpImage<int> labels_connex8_opencv((unsigned int)matLabels_8.rows, (unsigned int)matLabels_8.cols);
for (int i = 0; i < matLabels_8.rows; i++) {
for (int j = 0; j < matLabels_8.cols; j++) {
labels_connex8_opencv[i][j] = matLabels_8.at<int>(i, j);
if (matLabels_8.at<int>(i, j))
set_labels_connex8_opencv.insert(matLabels_8.at<int>(i, j));
}
}
std::cout << "\n8-connexity connected components (OpenCV):" << std::endl;
std::cout << "nb components: " << set_labels_connex8_opencv.size() << std::endl;
std::cout << "Time: " << t_opencv << " ms" << std::endl;
check_label = checkLabels(labels_connex8_opencv, labels_connex8);
std::cout << "checkLabels(labels_connex8_opencv, labels_connex8): " << check_label << std::endl;
// std::cout << "(labels_connex8_opencv == labels_connex8)? " <<
// (labels_connex8_opencv == labels_connex8) << std::endl;
if (!check_label) {
throw vpException(vpException::fatalError, "(labels_connex8_opencv != labels_connex8)");
}
#endif
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cerr << "Catch an exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
}