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

Test imgproc functions.

/****************************************************************************
*
* 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 imgproc functions.
*
* Authors:
* Souriya Trinh
*
*****************************************************************************/
#include <cstdio>
#include <cstdlib>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.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 imgproc functions.\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\
Klimt_grey.pgm output image is 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;
}
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) {
return 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;
return 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;
return EXIT_FAILURE;
}
//
// Here starts really the test
//
//
// Test color functions using Klimt.ppm
//
// Read Klimt.ppm
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
vpImage<vpRGBa> I_color, Iinput_color;
std::cout << "Read image: " << filename << std::endl;
vpImageIo::read(Iinput_color, filename);
Iinput_color.halfSizeImage(I_color);
std::cout << "Image: " << I_color.getWidth() << "x" << I_color.getHeight() << std::endl;
// Adjust
double alpha = 1.5, beta = -10.0;
vpImage<vpRGBa> I_color_adjust;
double t = vpTime::measureTimeMs();
vp::adjust(I_color, I_color_adjust, alpha, beta);
std::cout << "Time to do color adjust: " << t << " ms" << std::endl;
// Save adjust
filename = vpIoTools::createFilePath(opath, "Klimt_adjust.ppm");
vpImageIo::write(I_color_adjust, filename);
// Equalize Histogram
vpImage<vpRGBa> I_color_equalize_histogram;
vp::equalizeHistogram(I_color, I_color_equalize_histogram);
std::cout << "Time to do color histogram equalization: " << t << " ms" << std::endl;
// Save equalizeHistogram
filename = vpIoTools::createFilePath(opath, "Klimt_equalize_histogram.ppm");
vpImageIo::write(I_color_equalize_histogram, filename);
// Gamma correction
vpImage<vpRGBa> I_color_gamma_correction;
double gamma = 2.2;
vp::gammaCorrection(I_color, I_color_gamma_correction, gamma);
std::cout << "Time to do color gamma correction: " << t << " ms" << std::endl;
// Save gammaCorrection
filename = vpIoTools::createFilePath(opath, "Klimt_gamma_correction.ppm");
vpImageIo::write(I_color_gamma_correction, filename);
// Retinex
vpImage<vpRGBa> I_color_retinex;
vp::retinex(I_color, I_color_retinex);
std::cout << "Time to do color retinex: " << t << " ms" << std::endl;
// Save retinex
filename = vpIoTools::createFilePath(opath, "Klimt_retinex.ppm");
vpImageIo::write(I_color_retinex, filename);
// Stretch contrast
vpImage<vpRGBa> I_color_stretch_contrast;
vp::stretchContrast(I_color, I_color_stretch_contrast);
std::cout << "Time to do color contrast stretching: " << t << " ms" << std::endl;
// Save stretchContrast
filename = vpIoTools::createFilePath(opath, "Klimt_stretch_contrast.ppm");
vpImageIo::write(I_color_stretch_contrast, filename);
// Stretch Contrast HSV
vpImage<vpRGBa> I_color_stretch_contrast_HSV;
vp::stretchContrastHSV(I_color, I_color_stretch_contrast_HSV);
std::cout << "Time to do color HSV contrast stretching: " << t << " ms" << std::endl;
// Save stretchContrastHSV
filename = vpIoTools::createFilePath(opath, "Klimt_stretch_contrast_HSV.ppm");
vpImageIo::write(I_color_stretch_contrast_HSV, filename);
// Unsharp Mask
vpImage<vpRGBa> I_color_unsharp_mask;
vp::unsharpMask(I_color, I_color_unsharp_mask);
std::cout << "Time to do color unsharp mask: " << t << " ms" << std::endl;
// Save unsharpMask
filename = vpIoTools::createFilePath(opath, "Klimt_unsharp_mask.ppm");
vpImageIo::write(I_color_unsharp_mask, filename);
// CLAHE
vpImage<vpRGBa> I_color_clahe;
vp::clahe(I_color, I_color_clahe, 50);
std::cout << "Time to do color CLAHE: " << t << " ms" << std::endl;
// Save CLAHE
filename = vpIoTools::createFilePath(opath, "Klimt_CLAHE.ppm");
vpImageIo::write(I_color_clahe, filename);
//
// Test grayscale function using image0000.pgm
//
// Read image0000.pgm
filename = vpIoTools::createFilePath(ipath, "mbt/cube/image0000.pgm");
std::cout << "\nRead image: " << filename << std::endl;
vpImageIo::read(Iinput, filename);
Iinput.halfSizeImage(I);
std::cout << "Image: " << I.getWidth() << "x" << I.getHeight() << std::endl;
// Adjust
beta = -20.0;
vp::adjust(I, I_adjust, alpha, beta);
std::cout << "Time to do grayscale adjust: " << t << " ms" << std::endl;
// Save adjust
filename = vpIoTools::createFilePath(opath, "image0000_adjust.pgm");
vpImageIo::write(I_adjust, filename);
// Equalize Histogram
vpImage<unsigned char> I_equalize_histogram;
vp::equalizeHistogram(I, I_equalize_histogram);
std::cout << "Time to do grayscale histogram equalization: " << t << " ms" << std::endl;
// Save equalizeHistogram
filename = vpIoTools::createFilePath(opath, "image0000_equalize_histogram.pgm");
vpImageIo::write(I_equalize_histogram, filename);
// Gamma correction
vpImage<unsigned char> I_gamma_correction;
gamma = 1.8;
vp::gammaCorrection(I, I_gamma_correction, gamma);
std::cout << "Time to do grayscale gamma correction: " << t << " ms" << std::endl;
// Save gammaCorrection
filename = vpIoTools::createFilePath(opath, "image0000_gamma_correction.pgm");
vpImageIo::write(I_gamma_correction, filename);
// Stretch contrast
vpImage<unsigned char> I_stretch_contrast;
vp::stretchContrast(I, I_stretch_contrast);
std::cout << "Time to do grayscale contrast stretching: " << t << " ms" << std::endl;
// Save stretchContrast
filename = vpIoTools::createFilePath(opath, "image0000_stretch_contrast.pgm");
vpImageIo::write(I_stretch_contrast, filename);
// Unsharp Mask
vpImage<unsigned char> I_unsharp_mask;
vp::unsharpMask(I, I_unsharp_mask);
std::cout << "Time to do grayscale unsharp mask: " << t << " ms" << std::endl;
// Save unsharpMask
filename = vpIoTools::createFilePath(opath, "image0000_unsharp_mask.pgm");
vpImageIo::write(I_unsharp_mask, filename);
// CLAHE
vp::clahe(I, I_clahe, 50);
std::cout << "Time to do grayscale CLAHE: " << t << " ms" << std::endl;
// Save CLAHE
filename = vpIoTools::createFilePath(opath, "image0000_CLAHE.pgm");
vpImageIo::write(I_clahe, filename);
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cerr << "Catch an exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
}