Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
testFloodFill.cpp

Test flood fill algorithm.

/****************************************************************************
*
* 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 flood fill algorithm.
*
* 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 flood fill algorithm.\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;
std::cout << std::setfill(' ') << std::setw(3) << "+";
for (unsigned int j = 0; j < I.getWidth(); j++) {
std::cout << std::setw(3) << "---";
}
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;
}
}
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[8 * 8] = {1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0,
1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 1,
1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0};
vpImage<unsigned char> I_test_flood_fill_4_connexity(image_data, 8, 8, true);
vpImage<unsigned char> I_test_flood_fill_8_connexity = I_test_flood_fill_4_connexity;
printImage(I_test_flood_fill_4_connexity, "Test image data");
unsigned char image_data_check_4_connexity[8 * 8] = {
1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0,
1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0};
vpImage<unsigned char> I_check_4_connexity(image_data_check_4_connexity, 8, 8, true);
unsigned char image_data_check_8_connexity[8 * 8] = {
1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0,
1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0};
vpImage<unsigned char> I_check_8_connexity(image_data_check_8_connexity, 8, 8, true);
// Test flood fill on test data 4-connexity
vp::floodFill(I_test_flood_fill_4_connexity, vpImagePoint(2, 2), 0, 1, vpImageMorphology::CONNEXITY_4);
printImage(I_test_flood_fill_4_connexity, "I_test_flood_fill_4_connexity");
if (I_test_flood_fill_4_connexity != I_check_4_connexity) {
throw vpException(vpException::fatalError, "Problem with vp::floodFill() and 4-connexity!");
}
std::cout << "\n(I_test_flood_fill_4_connexity == I_check_4_connexity)? "
<< (I_test_flood_fill_4_connexity == I_check_4_connexity) << std::endl;
// Test flood fill on test data 8-connexity
vp::floodFill(I_test_flood_fill_8_connexity, vpImagePoint(2, 2), 0, 1, vpImageMorphology::CONNEXITY_8);
printImage(I_test_flood_fill_8_connexity, "I_test_flood_fill_8_connexity");
if (I_test_flood_fill_8_connexity != I_check_8_connexity) {
throw vpException(vpException::fatalError, "Problem with vp::floodFill() and 8-connexity!");
}
std::cout << "\n(I_test_flood_fill_8_connexity == I_check_8_connexity)? "
<< (I_test_flood_fill_8_connexity == I_check_8_connexity) << std::endl;
// Read Klimt.ppm
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
vpImageIo::read(I_klimt, filename);
std::cout << "\nRead image: " << filename << " (" << I_klimt.getWidth() << "x" << I_klimt.getHeight() << ")"
<< std::endl
<< std::endl;
vpImageTools::binarise(I_klimt, (unsigned char)127, (unsigned char)255, (unsigned char)0, (unsigned char)255,
(unsigned char)255);
int seed_x = 0;
int seed_y = 0;
vpImage<unsigned char> I_klimt_flood_fill_4_connexity = I_klimt;
double t = vpTime::measureTimeMs();
vp::floodFill(I_klimt_flood_fill_4_connexity, vpImagePoint(seed_y, seed_x), 0, 255, vpImageMorphology::CONNEXITY_4);
std::cout << "Flood fill on Klimt image (4-connexity): " << t << " ms" << std::endl;
filename = vpIoTools::createFilePath(opath, "Klimt_flood_fill_4_connexity.pgm");
vpImageIo::write(I_klimt_flood_fill_4_connexity, filename);
vpImage<unsigned char> I_klimt_flood_fill_8_connexity = I_klimt;
vp::floodFill(I_klimt_flood_fill_8_connexity, vpImagePoint(seed_y, seed_x), 0, 255, vpImageMorphology::CONNEXITY_8);
std::cout << "Flood fill on Klimt image (8-connexity): " << t << " ms" << std::endl;
filename = vpIoTools::createFilePath(opath, "Klimt_flood_fill_8_connexity.pgm");
vpImageIo::write(I_klimt_flood_fill_8_connexity, filename);
#if VISP_HAVE_OPENCV_VERSION >= 0x020408
cv::Mat matImg_klimt_4_connexity, matImg_klimt_8_connexity;
vpImageConvert::convert(I_klimt, matImg_klimt_4_connexity);
vpImageConvert::convert(I_klimt, matImg_klimt_8_connexity);
// 4-connexity
cv::floodFill(matImg_klimt_4_connexity, cv::Point(seed_x, seed_y), cv::Scalar(255), 0, cv::Scalar(), cv::Scalar(),
4);
std::cout << "OpenCV flood fill on Klimt image (4-connexity): " << t << " ms" << std::endl;
vpImage<unsigned char> I_klimt_flood_fill_4_connexity_check;
vpImageConvert::convert(matImg_klimt_4_connexity, I_klimt_flood_fill_4_connexity_check);
filename = vpIoTools::createFilePath(opath, "Klimt_flood_fill_4_connexity_opencv.pgm");
vpImageIo::write(I_klimt_flood_fill_4_connexity_check, filename);
// 8-connexity
cv::floodFill(matImg_klimt_8_connexity, cv::Point(seed_x, seed_y), cv::Scalar(255), 0, cv::Scalar(), cv::Scalar(),
8);
std::cout << "OpenCV flood fill on Klimt image (8-connexity): " << t << " ms" << std::endl;
vpImage<unsigned char> I_klimt_flood_fill_8_connexity_check;
vpImageConvert::convert(matImg_klimt_8_connexity, I_klimt_flood_fill_8_connexity_check);
filename = vpIoTools::createFilePath(opath, "Klimt_flood_fill_8_connexity_opencv.pgm");
vpImageIo::write(I_klimt_flood_fill_8_connexity_check, filename);
// Check
std::cout << "\n(I_klimt_flood_fill_4_connexity == "
"I_klimt_flood_fill_4_connexity_check)? "
<< (I_klimt_flood_fill_4_connexity == I_klimt_flood_fill_4_connexity_check) << std::endl;
std::cout << "(I_klimt_flood_fill_8_connexity == "
"I_klimt_flood_fill_8_connexity_check)? "
<< (I_klimt_flood_fill_8_connexity == I_klimt_flood_fill_8_connexity_check) << std::endl;
if (I_klimt_flood_fill_4_connexity != I_klimt_flood_fill_4_connexity_check) {
throw vpException(vpException::fatalError, "(I_klimt_flood_fill_4_connexity != "
"I_klimt_flood_fill_4_connexity_check)");
}
if (I_klimt_flood_fill_8_connexity != I_klimt_flood_fill_8_connexity_check) {
throw vpException(vpException::fatalError, "(I_klimt_flood_fill_8_connexity != "
"I_klimt_flood_fill_8_connexity_check)");
}
#endif
std::cout << "\nTest flood fill is ok!" << std::endl;
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cerr << "Catch an exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
}