Visual Servoing Platform  version 3.2.0 under development (2018-10-16)
testContours.cpp

Test contours extraction.

/****************************************************************************
*
* 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 contours extraction.
*
* Authors:
* Souriya Trinh
*
*****************************************************************************/
#include <iomanip>
#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);
/*
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 contours extraction.\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;
}
void printImage(const vpImage<unsigned char> &I, const std::string &name)
{
std::cout << "\n" << name << ":" << std::endl;
std::cout << " ";
for (unsigned int j = 0; j < I.getWidth(); j++) {
std::cout << std::setfill(' ') << std::setw(2) << j << " ";
}
std::cout << std::endl;
for (unsigned int i = 0; i < I.getHeight(); i++) {
std::cout << std::setfill(' ') << std::setw(2) << i << " ";
for (unsigned int j = 0; j < I.getWidth(); j++) {
std::cout << std::setfill(' ') << std::setw(2) << static_cast<unsigned int>(I[i][j]) << " ";
}
std::cout << std::endl;
}
}
void displayContourInfo(const vp::vpContour &contour, const int level)
{
std::cout << "\nContour:" << std::endl;
std::cout << "\tlevel: " << level << std::endl;
std::cout << "\tcontour type: " << (contour.m_contourType == vp::CONTOUR_OUTER ? "outer contour" : "hole contour")
<< std::endl;
std::cout << "\tnb children: " << contour.m_children.size() << std::endl;
for (std::vector<vp::vpContour *>::const_iterator it = contour.m_children.begin(); it != contour.m_children.end();
++it) {
displayContourInfo(**it, level + 1);
}
}
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
//
unsigned char image_data[14 * 10] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1,
1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
vpImage<unsigned char> I_test_data(image_data, 14, 10, true);
std::cout << "Test with image data:" << std::endl;
printImage(I_test_data, "I_test_data");
vp::vpContour vp_contours;
std::vector<std::vector<vpImagePoint> > contours;
double t = vpTime::measureTimeMs();
vp::findContours(I_test_data, vp_contours, contours);
displayContourInfo(vp_contours, 0);
std::cout << "ViSP: nb contours=" << contours.size() << " ; t=" << t << " ms" << std::endl;
// 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)1,
(unsigned char)1);
for (unsigned int cpt = 0; cpt < I2.getSize(); cpt++) {
I2.bitmap[cpt] = 255 * I.bitmap[cpt];
}
filename = vpIoTools::createFilePath(opath, "Klimt_contours_binarise.pgm");
vpImageIo::write(I2, filename);
vp::findContours(I, vp_contours, contours);
displayContourInfo(vp_contours, 0);
std::cout << "\nTest with Klimt image:" << std::endl;
std::cout << "ViSP: nb contours=" << contours.size() << " ; t=" << t << " ms" << std::endl;
// Draw and save
vpImage<unsigned char> I_draw_contours(I2.getHeight(), I2.getWidth(), 0);
vp::drawContours(I_draw_contours, contours);
filename = vpIoTools::createFilePath(opath, "Klimt_contours_extracted.pgm");
vpImageIo::write(I_draw_contours, filename);
vpImage<vpRGBa> I_draw_contours_color(I2.getHeight(), I2.getWidth(), vpRGBa(0, 0, 0));
vp::drawContours(I_draw_contours_color, contours, vpColor::red);
filename = vpIoTools::createFilePath(opath, "Klimt_contours_extracted_color.ppm");
vpImageIo::write(I_draw_contours_color, filename);
// Test retrieve list
vp::findContours(I, vp_contours, contours, vp::CONTOUR_RETR_LIST);
vpImage<unsigned char> I_draw_contours_list(I2.getHeight(), I2.getWidth(), 0);
vpImage<unsigned char> I_tmp_list(I.getHeight(), I.getWidth(), 0);
vp::drawContours(I_tmp_list, contours);
contours.clear();
for (std::vector<vp::vpContour *>::const_iterator it = vp_contours.m_children.begin();
it != vp_contours.m_children.end(); ++it) {
contours.push_back((*it)->m_points);
}
vp::drawContours(I_draw_contours_list, contours);
std::cout << "(I_tmp_list == I_draw_contours_list)? " << (I_tmp_list == I_draw_contours_list) << std::endl;
filename = vpIoTools::createFilePath(opath, "Klimt_contours_extracted_list.pgm");
vpImageIo::write(I_draw_contours_list, filename);
// Test retrieve external
vp::findContours(I, vp_contours, contours, vp::CONTOUR_RETR_EXTERNAL);
vpImage<unsigned char> I_draw_contours_external(I2.getHeight(), I2.getWidth(), 0);
vpImage<unsigned char> I_tmp_external(I.getHeight(), I.getWidth(), 0);
vp::drawContours(I_tmp_external, contours);
contours.clear();
for (std::vector<vp::vpContour *>::const_iterator it = vp_contours.m_children.begin();
it != vp_contours.m_children.end(); ++it) {
contours.push_back((*it)->m_points);
}
vp::drawContours(I_draw_contours_external, contours);
std::cout << "(I_tmp_external == I_draw_contours_external)? " << (I_tmp_external == I_draw_contours_external)
<< std::endl;
filename = vpIoTools::createFilePath(opath, "Klimt_contours_extracted_external.pgm");
vpImageIo::write(I_draw_contours_external, filename);
// Test fillHoles
vpImage<unsigned char> I_holes = I_draw_contours_external;
vpImageTools::binarise(I_holes, (unsigned char)127, (unsigned char)255, (unsigned char)0, (unsigned char)255,
(unsigned char)255);
vp::fillHoles(I_holes);
std::cout << "\nFill Holes: " << t << " ms" << std::endl;
filename = vpIoTools::createFilePath(opath, "Klimt_contours_extracted_external_fill_holes.pgm");
vpImageIo::write(I_holes, filename);
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
cv::Mat matImg;
std::vector<std::vector<cv::Point> > contours_opencv;
double t_opencv = vpTime::measureTimeMs();
cv::findContours(matImg, contours_opencv, cv::RETR_TREE, cv::CHAIN_APPROX_NONE);
t_opencv = vpTime::measureTimeMs() - t_opencv;
std::cout << "\nOpenCV: nb contours=" << contours_opencv.size() << " ; t_opencv=" << t_opencv << " ms" << std::endl;
vpImage<unsigned char> I_draw_contours_opencv(I.getHeight(), I.getWidth(), 0);
for (std::vector<std::vector<cv::Point> >::const_iterator it1 = contours_opencv.begin();
it1 != contours_opencv.end(); ++it1) {
for (std::vector<cv::Point>::const_iterator it2 = it1->begin(); it2 != it1->end(); ++it2) {
I_draw_contours_opencv[it2->y][it2->x] = 255;
}
}
std::cout << "(I_draw_contours_opencv == I_drawContours)? " << (I_draw_contours_opencv == I_draw_contours)
<< std::endl;
filename = vpIoTools::createFilePath(opath, "Klimt_contours_extracted_opencv.pgm");
vpImageIo::write(I_draw_contours_opencv, filename);
// Test retrieve list
contours_opencv.clear();
cv::findContours(matImg, contours_opencv, cv::RETR_LIST, cv::CHAIN_APPROX_NONE);
I_draw_contours_opencv = 0;
for (std::vector<std::vector<cv::Point> >::const_iterator it1 = contours_opencv.begin();
it1 != contours_opencv.end(); ++it1) {
for (std::vector<cv::Point>::const_iterator it2 = it1->begin(); it2 != it1->end(); ++it2) {
I_draw_contours_opencv[it2->y][it2->x] = 255;
}
}
std::cout << "(I_draw_contours_opencv == I_draw_contours_list)? "
<< (I_draw_contours_opencv == I_draw_contours_list) << std::endl;
// Test retrieve external
contours_opencv.clear();
cv::findContours(matImg, contours_opencv, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
I_draw_contours_opencv = 0;
for (std::vector<std::vector<cv::Point> >::const_iterator it1 = contours_opencv.begin();
it1 != contours_opencv.end(); ++it1) {
for (std::vector<cv::Point>::const_iterator it2 = it1->begin(); it2 != it1->end(); ++it2) {
I_draw_contours_opencv[it2->y][it2->x] = 255;
}
}
std::cout << "(I_draw_contours_opencv == I_draw_contours_external)? "
<< (I_draw_contours_opencv == I_draw_contours_external) << std::endl;
#endif
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cerr << "Catch an exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
}