testUndistortImage.cpp

/****************************************************************************
 *
 * $Id: testUndistortImage.cpp 4814 2014-07-31 11:38:39Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * 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 for image undistortion.
 *
 * Authors:
 * Anthony Saunier
 *
 *****************************************************************************/



#include <visp/vpImage.h>
#include <visp/vpRGBa.h>
#include <visp/vpImageIo.h>
#include <visp/vpImageTools.h>
#include <visp/vpIoTools.h>
#include <visp/vpParseArgv.h>
#include <visp/vpDebug.h>
#include <visp/vpTime.h>
#include <stdlib.h>
// List of allowed command line options
#define GETOPTARGS  "i:o:h"

//#define COLOR
#define BW

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\
Read an image from the disk, undistort it \n\
and save the undistorted image on the disk.\n\
(Klimt_undistorted.pgm).\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 \"ViSP-images/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_undistorted.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;

    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
    env_ipath = vpIoTools::getViSPImagesDataPath();

    // Set the default input path
    if (! env_ipath.empty())
      ipath = env_ipath;

    // Set the default output path
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
    opt_opath = "/tmp";
#elif defined(_WIN32)
    opt_opath = "C:\\temp";
#endif

    // Get the user login name
    vpIoTools::getUserName(username);

    // Read the command line options
    if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
      exit (-1);
    }

    // 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
        vpIoTools::makeDirectory(opath);
      }
      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(-1);
      }
    }

    // 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()) {
      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(-1);
    }

    //
    // Here starts really the test
    //
#if defined BW
    vpImage<unsigned char> I; // Input image
    vpImage<unsigned char> U; // undistorted output image
#elif defined COLOR
    vpImage<vpRGBa> I; // Input image
    vpImage<vpRGBa> U; // undistorted output image
#endif
    vpCameraParameters cam;
    cam.initPersProjWithDistortion(600,600,192,144,-0.17,0.17);
    // Read the input grey image from the disk
#if defined BW
    filename = vpIoTools::createFilePath(ipath, "ViSP-images/Klimt/Klimt.pgm") ;
#elif defined COLOR
    filename = vpIoTools::createFilePath(ipath, "ViSP-images/Klimt/Klimt.ppm");
#endif
    std::cout << "Read image: " << filename << std::endl;
    vpImageIo::read(I, filename) ;

    std::cout << "Undistortion in process... " << std::endl;
    vpImageTools::undistort(I, cam, U);

    double begintime = vpTime::measureTimeMs();

    // For the test, to have a significant time measure we repeat the
    // undistortion 100 times
    for(unsigned int i=0;i<100;i++)
      // Create the undistorted image
      vpImageTools::undistort(I, cam, U);

    double endtime = vpTime::measureTimeMs();

    std::cout<<"Time for 100 undistortion (ms): "<< endtime - begintime
            << std::endl;

    // Write the undistorted image on the disk
#if defined BW
    filename = vpIoTools::path( vpIoTools::createFilePath(opath, "Klimt_undistorted.pgm") );
#elif defined COLOR
    filename = vpIoTools::path( vpIoTools::createFilePath(opath, "Klimt_undistorted.ppm") );
#endif
    std::cout << "Write undistorted image: " << filename << std::endl;
    vpImageIo::write(U, filename) ;
    return 0;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}