Visual Servoing Platform  version 3.6.1 under development (2024-12-12)
testConversion.cpp

Manipulation of image conversions.

/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 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 https://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 for image conversions.
*/
#include <iomanip>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpTime.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGCODECS) && defined(HAVE_OPENCV_IMGPROC)
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#endif
#if defined(VISP_HAVE_YARP)
#include <yarp/sig/ImageFile.h>
#endif
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
// List of allowed command line options
#define GETOPTARGS "cdi:o:n:h"
/*
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.
\param nbiter : Iteration number.
*/
void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user, int nbiter)
{
fprintf(stdout, "\n\
Test image conversions.\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-o <output image path>] [-n <nb benchmark iterations>]\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\
and \"Klimt/Klimt.ppm\" images.\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 and Klimt_color.ppm output images\n\
are written.\n\
\n\
-n <nb benchmark iterations> %d\n\
Set the number of benchmark iterations.\n\
\n\
-h\n\
Print the help.\n\n",
ipath.c_str(), opath.c_str(), user.c_str(), nbiter);
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, const std::string &user,
int &nbIterations)
{
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 'n':
nbIterations = atoi(optarg_);
break;
case 'h':
usage(argv[0], nullptr, ipath, opath, user, nbIterations);
return false;
case 'c':
case 'd':
break;
default:
usage(argv[0], optarg_, ipath, opath, user, nbIterations);
return false;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], nullptr, ipath, opath, user, nbIterations);
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;
int nbIterations = 1;
// 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, nbIterations) == 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], nullptr, ipath, opt_opath, username, nbIterations);
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 coming 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], nullptr, ipath, opt_opath, username, nbIterations);
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
//
vpImage<unsigned char> Ig; // Grey image
vpImage<vpRGBa> Ic; // Color image
//-------------------- .pgm -> .ppm
std::cout << "** Convert a grey image (.pgm) to a color image (.ppm)" << std::endl;
// Load a grey image from the disk
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
std::cout << " Load " << filename << std::endl;
vpImageIo::read(Ig, filename);
// Create a color image from the grey
filename = vpIoTools::createFilePath(opath, "Klimt_color.ppm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(Ic, filename);
//-------------------- .ppm -> .pgm
std::cout << "** Convert a color image (.ppm) to a grey image (.pgm)" << std::endl;
// Load a color image from the disk
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
std::cout << " Load " << filename << std::endl;
vpImageIo::read(Ic, filename);
// Create a grey image from the color
filename = vpIoTools::createFilePath(opath, "Klimt_grey.pgm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(Ig, filename);
//-------------------- YUV -> RGB
std::cout << "** Convert YUV pixel value to a RGB value" << std::endl;
unsigned char y = 187, u = 10, v = 30;
unsigned char r, g, b;
// Convert a YUV pixel value to a RGB value
vpImageConvert::YUVToRGB(y, u, v, r, g, b);
std::cout << " y(" << (int)y << ") u(" << (int)u << ") v(" << (int)v << ") = r(" << (int)r << ") g(" << (int)g
<< ") b(" << (int)b << ")" << std::endl;
vpChrono chrono;
/* ------------------------------------------------------------------------ */
/* conversion for the new c++ interface */
/* ------------------------------------------------------------------------ */
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGCODECS) && defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_IMGPROC)
chrono.start();
// Convert a cv::Mat to a vpImage<vpRGBa>
std::cout << "** Convert a cv::Mat to a vpImage<vpRGBa>" << std::endl;
cv::Mat imageMat;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
std::cout << " Reading the color image with c++ interface of opencv: " << filename << std::endl;
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
int flags = cv::IMREAD_COLOR;
#else
int flags = CV_LOAD_IMAGE_COLOR;
#endif
imageMat = cv::imread(filename, flags); // Force to a three channel BGR color image.
if (imageMat.data == nullptr) {
std::cout << " Cannot read image: " << filename << std::endl;
return EXIT_FAILURE;
}
vpImageConvert::convert(imageMat, Ic);
filename = vpIoTools::createFilePath(opath, "Klimt_color_cvMat.ppm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(Ic, filename);
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
/* Read the pgm image */
std::cout << " Reading the grayscale image with opencv: " << filename << std::endl;
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
flags = cv::IMREAD_GRAYSCALE;
#else
flags = CV_LOAD_IMAGE_GRAYSCALE;
#endif
imageMat = cv::imread(filename, flags); // Forced to grayscale.
if (imageMat.data == nullptr) {
std::cout << " Cannot read image: " << filename << std::endl;
return EXIT_FAILURE;
}
vpImageConvert::convert(imageMat, Ic);
filename = vpIoTools::createFilePath(opath, "Klimt_grey_cvMat.ppm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(Ic, filename);
// Convert a cv::Mat to a vpImage<unsigned char>
std::cout << "** Convert a cv::Mat to a vpImage<nsigned char>" << std::endl;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
/* Read the color image */
std::cout << " Reading the color image with opencv: " << filename << std::endl;
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
flags = cv::IMREAD_COLOR;
#else
flags = CV_LOAD_IMAGE_COLOR;
#endif
imageMat = cv::imread(filename, flags); // Force to a three channel BGR color image.
if (imageMat.data == nullptr) {
std::cout << " Cannot read image: " << filename << std::endl;
return EXIT_FAILURE;
}
vpImageConvert::convert(imageMat, Ig);
filename = vpIoTools::createFilePath(opath, "Klimt_color_cvMat.pgm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(Ig, filename);
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
/* Read the pgm image */
std::cout << " Reading the greyscale image with opencv: " << filename << std::endl;
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
flags = cv::IMREAD_GRAYSCALE;
#else
flags = CV_LOAD_IMAGE_GRAYSCALE;
#endif
imageMat = cv::imread(filename, flags);
if (imageMat.data == nullptr) {
std::cout << " Cannot read image: " << filename << std::endl;
return EXIT_FAILURE;
}
vpImageConvert::convert(imageMat, Ig);
filename = vpIoTools::createFilePath(opath, "Klimt_grey_cvMat.pgm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(Ig, filename);
std::cout << " Convert result in " << filename << std::endl;
// Convert a vpImage<vpRGBa> to a cv::Mat
std::cout << "** Convert a vpImage<vpRGBa> to a cv::Mat" << std::endl;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
/* Read the color image */
// Load a color image from the disk
std::cout << " Load " << filename << std::endl;
vpImageIo::read(Ic, filename);
vpImageConvert::convert(Ic, imageMat);
filename = vpIoTools::createFilePath(opath, "Klimt_ipl_color_cvMat.ppm");
/* Save the the current image */
std::cout << " Resulting image saved in: " << filename << std::endl;
if (!cv::imwrite(filename, imageMat)) {
std::cout << " Cannot write image: " << filename << std::endl;
return EXIT_FAILURE;
}
std::cout << " Convert result in " << filename << std::endl;
// Convert a vpImage<unsigned char> to a cv::Mat
std::cout << "** Convert a vpImage<unsigned char> to a cv::Mat" << std::endl;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
/* Read the grey image */
// Load a color image from the disk
std::cout << " Load " << filename << std::endl;
vpImageIo::read(Ig, filename);
vpImageConvert::convert(Ig, imageMat);
filename = vpIoTools::createFilePath(opath, "Klimt_ipl_grey_cvMat.pgm");
/* Save the the current image */
std::cout << " Resulting image saved in: " << filename << std::endl;
if (!cv::imwrite(filename, imageMat)) {
std::cout << " Cannot write image: " << filename << std::endl;
return EXIT_FAILURE;
}
std::cout << " Convert result in " << filename << std::endl;
chrono.stop();
std::cout << "== Conversion c++ interface : " << chrono.getDurationMs() << " ms" << std::endl;
#endif
// Split a vpImage<vpRGBa> to vpImage<unsigned char>
std::cout << "** Split a vpImage<vpRGBa> to vpImage<unsigned char>" << std::endl;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
/* Read the color image */
// Load a color image from the disk
std::cout << " Load " << filename << std::endl;
vpImageIo::read(Ic, filename);
vpImageConvert::split(Ic, &R, nullptr, &B);
chrono.start();
for (int iteration = 0; iteration < nbIterations; iteration++) {
vpImageConvert::split(Ic, &R, nullptr, &B);
}
chrono.stop();
std::cout << " Time for " << nbIterations << " split (ms): " << chrono.getDurationMs() << std::endl;
filename = vpIoTools::createFilePath(opath, "Klimt_RChannel.pgm");
/* Save the the current image */
std::cout << " Save Klimt R channel: " << filename << std::endl;
vpImageIo::write(R, filename);
filename = vpIoTools::createFilePath(opath, "Klimt_BChannel.pgm");
/* Save the the current image */
std::cout << " Save Klimt B channel: " << filename << std::endl;
vpImageIo::write(B, filename);
// Merge 4 vpImage<unsigned char> (RGBa) to vpImage<vpRGBa>
std::cout << "** Merge 4 vpImage<unsigned char> (RGBa) to vpImage<vpRGBa>" << std::endl;
vpImageConvert::split(Ic, &R, &G, &B, &a);
chrono.start();
vpImage<vpRGBa> I_merge;
for (int iteration = 0; iteration < nbIterations; iteration++) {
vpImageConvert::merge(&R, &G, &B, &a, I_merge);
}
chrono.stop();
std::cout << " Time for 1000 merge (ms): " << chrono.getDurationMs() << std::endl;
filename = vpIoTools::createFilePath(opath, "Klimt_merge.ppm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_merge, filename);
// Convert a vpImage<vpRGBa> in RGB color space to a vpImage<vpRGBa> in
// HSV color
std::cout << "** Convert a vpImage<vpRGBa> in RGB color space to a vpImage<vpRGBa> in HSV color" << std::endl;
unsigned int size = Ic.getSize();
unsigned int w = Ic.getWidth(), h = Ic.getHeight();
// Check the conversion RGBa <==> HSV(unsigned char)
std::vector<unsigned char> hue(size);
std::vector<unsigned char> saturation(size);
std::vector<unsigned char> value(size);
vpImageConvert::RGBaToHSV((unsigned char *)Ic.bitmap, &hue.front(), &saturation.front(), &value.front(), size);
vpImage<unsigned char> I_hue(&hue.front(), h, w);
vpImage<unsigned char> I_saturation(&saturation.front(), h, w);
vpImage<unsigned char> I_value(&value.front(), h, w);
vpImageConvert::merge(&I_hue, &I_saturation, &I_value, nullptr, I_HSV);
filename = vpIoTools::createFilePath(opath, "Klimt_HSV.ppm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_HSV, filename);
vpImage<vpRGBa> Ic_from_hsv(Ic.getHeight(), Ic.getWidth());
vpImageConvert::HSVToRGBa(&hue.front(), &saturation.front(), &value.front(), reinterpret_cast<unsigned char *>(Ic_from_hsv.bitmap), size);
for (unsigned int i = 0; i < Ic.getHeight(); i++) {
for (unsigned int j = 0; j < Ic.getWidth(); j++) {
double precision = 10.; // Due to cast to unsigned char
if ((!vpMath::equal(static_cast<double>(Ic[i][j].R), static_cast<double>(Ic_from_hsv[i][j].R), precision))
|| (!vpMath::equal(static_cast<double>(Ic[i][j].G), static_cast<double>(Ic_from_hsv[i][j].G), precision))
|| (!vpMath::equal(static_cast<double>(Ic[i][j].B), static_cast<double>(Ic_from_hsv[i][j].B), precision))) {
std::cerr << "Ic[i][j].R=" << static_cast<unsigned int>(Ic[i][j].R)
<< " ; Ic_from_hsv[i][j].R=" << static_cast<unsigned int>(Ic_from_hsv[i][j].R) << " precision: " << precision << std::endl;
std::cerr << "Ic[i][j].G=" << static_cast<unsigned int>(Ic[i][j].G)
<< " ; Ic_from_hsv[i][j].G=" << static_cast<unsigned int>(Ic_from_hsv[i][j].G) << " precision: " << precision << std::endl;
std::cerr << "Ic[i][j].B=" << static_cast<unsigned int>(Ic[i][j].B)
<< " ; Ic_from_hsv[i][j].B=" << static_cast<unsigned int>(Ic_from_hsv[i][j].B) << " precision: " << precision << std::endl;
throw vpException(vpException::fatalError, "Problem with conversion between RGB <==> HSV(unsigned char)");
}
}
}
// Check the conversion RGBa <==> HSV(double)
std::vector<double> hue2(size);
std::vector<double> saturation2(size);
std::vector<double> value2(size);
vpImageConvert::RGBaToHSV((unsigned char *)Ic.bitmap, &hue2.front(), &saturation2.front(), &value2.front(), size);
std::vector<unsigned char> rgba(size * 4);
vpImageConvert::HSVToRGBa(&hue2.front(), &saturation2.front(), &value2.front(), &rgba.front(), size);
vpImage<vpRGBa> I_HSV2RGBa(reinterpret_cast<vpRGBa *>(&rgba.front()), h, w);
filename = vpIoTools::createFilePath(opath, "Klimt_HSV2RGBa.ppm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_HSV2RGBa, filename);
for (unsigned int i = 0; i < Ic.getHeight(); i++) {
for (unsigned int j = 0; j < Ic.getWidth(); j++) {
if (Ic[i][j].R != I_HSV2RGBa[i][j].R || Ic[i][j].G != I_HSV2RGBa[i][j].G || Ic[i][j].B != I_HSV2RGBa[i][j].B) {
std::cerr << "Ic[i][j].R=" << static_cast<unsigned>(Ic[i][j].R)
<< " ; I_HSV2RGBa[i][j].R=" << static_cast<unsigned>(I_HSV2RGBa[i][j].R) << std::endl;
std::cerr << "Ic[i][j].G=" << static_cast<unsigned>(Ic[i][j].G)
<< " ; I_HSV2RGBa[i][j].G=" << static_cast<unsigned>(I_HSV2RGBa[i][j].G) << std::endl;
std::cerr << "Ic[i][j].B=" << static_cast<unsigned>(Ic[i][j].B)
<< " ; I_HSV2RGBa[i][j].B=" << static_cast<unsigned>(I_HSV2RGBa[i][j].B) << std::endl;
throw vpException(vpException::fatalError, "Problem with conversion between RGB <==> HSV(double)");
}
}
}
// Test construction of a vpImage from an array with copyData==true
std::cout << "** Construction of a vpImage from an array with copyData==true" << std::endl;
std::vector<unsigned char> rgba2(size * 4);
std::fill(rgba2.begin(), rgba2.end(), 127);
vpImage<vpRGBa> I_copyData(reinterpret_cast<vpRGBa *>(&rgba2.front()), h, w, true);
filename = vpIoTools::createFilePath(opath, "I_copyData.ppm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_copyData, filename);
if (I_copyData.getSize() > 0) {
I_copyData[0][0].R = 10;
}
// Test color conversion
{
std::cout << "** Test color conversion" << std::endl;
// RGBa to Grayscale
vpImage<vpRGBa> I_color;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
vpImageIo::read(I_color, filename);
// RGB to Grayscale conversion
std::vector<unsigned char> rgb_array(I_color.getSize() * 3);
vpImageConvert::RGBaToRGB((unsigned char *)I_color.bitmap, &rgb_array.front(), I_color.getSize());
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGCODECS) && defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_IMGPROC)
// BGR cv::Mat to Grayscale
std::cout << "\n BGR cv::Mat to Grayscale" << std::endl;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
cv::Mat colorMat = cv::imread(filename);
std::cout << " colorMat=" << colorMat.cols << "x" << colorMat.rows << std::endl;
// Test RGB to Grayscale + Flip
std::cout << "\n RGB to Grayscale + Flip" << std::endl;
std::vector<unsigned char> rgb2gray_flip_array_sse(I_color.getSize());
vpImageConvert::RGBToGrey(&rgb_array.front(), &rgb2gray_flip_array_sse.front(), I_color.getWidth(),
I_color.getHeight(), true);
vpImage<unsigned char> I_rgb2gray_flip_sse(&rgb2gray_flip_array_sse.front(), I_color.getHeight(),
I_color.getWidth());
filename = vpIoTools::createFilePath(opath, "I_rgb2gray_flip_sse.pgm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_rgb2gray_flip_sse, filename);
// Test BGR to Grayscale + Flip
std::cout << "\n Conversion BGR to Grayscale + Flip" << std::endl;
std::vector<unsigned char> bgr2gray_flip_array_sse(I_color.getSize());
vpImage<unsigned char> I_bgr2gray_flip_sse(&bgr2gray_flip_array_sse.front(), I_color.getHeight(),
I_color.getWidth());
vpImageConvert::convert(colorMat, I_bgr2gray_flip_sse, true);
filename = vpIoTools::createFilePath(opath, "I_bgr2gray_flip_sse.pgm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_bgr2gray_flip_sse, filename);
// Test RGB to Grayscale + Flip + Crop
std::cout << "\n RGB to Grayscale + Flip + Crop" << std::endl;
cv::Rect rect_roi(11, 17, 347, 449);
cv::Mat colorMat_crop = colorMat(rect_roi);
cv::Mat colorMat_crop_continuous = colorMat(rect_roi).clone();
std::cout << " colorMat_crop: " << colorMat_crop.cols << "x" << colorMat_crop.rows << " is continuous? "
<< colorMat_crop.isContinuous() << std::endl;
std::cout << " colorMat_crop_continuous: " << colorMat_crop_continuous.cols << "x" << colorMat_crop_continuous.rows
<< " is continuous? " << colorMat_crop_continuous.isContinuous() << std::endl;
vpImage<vpRGBa> I_color_crop((unsigned int)(rect_roi.height - rect_roi.y),
(unsigned int)(rect_roi.width - rect_roi.x));
for (unsigned int i = (unsigned int)rect_roi.y; i < (unsigned int)rect_roi.height; i++) {
for (unsigned int j = (unsigned int)rect_roi.x; j < (unsigned int)rect_roi.width; j++) {
I_color_crop[(unsigned int)((int)i - rect_roi.y)][(unsigned int)((int)j - rect_roi.x)] = I_color[i][j];
}
}
filename = vpIoTools::createFilePath(opath, "I_color_crop.ppm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_color_crop, filename);
std::vector<unsigned char> rgb_array_crop(I_color_crop.getSize() * 3);
vpImageConvert::RGBaToRGB((unsigned char *)I_color_crop.bitmap, &rgb_array_crop.front(), I_color_crop.getSize());
std::vector<unsigned char> rgb2gray_flip_crop_array_sse(I_color_crop.getSize());
vpImageConvert::RGBToGrey(&rgb_array_crop.front(), &rgb2gray_flip_crop_array_sse.front(), I_color_crop.getWidth(),
I_color_crop.getHeight(), true);
vpImage<unsigned char> I_rgb2gray_flip_crop_sse(&rgb2gray_flip_crop_array_sse.front(), I_color_crop.getHeight(),
I_color_crop.getWidth());
filename = vpIoTools::createFilePath(opath, "I_rgb2gray_flip_crop_sse.pgm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_rgb2gray_flip_crop_sse, filename);
// Test BGR to Grayscale + Flip + Crop
std::cout << "\n BGR to Grayscale + Flip + Crop" << std::endl;
vpImage<unsigned char> I_bgr2gray_flip_crop_sse(I_color_crop.getHeight(), I_color_crop.getWidth());
vpImageConvert::convert(colorMat_crop_continuous, I_bgr2gray_flip_crop_sse, true);
filename = vpIoTools::createFilePath(opath, "I_bgr2gray_flip_crop_sse.pgm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_bgr2gray_flip_crop_sse, filename);
// Test BGR to Grayscale + Flip + Crop + No continuous Mat
std::cout << "\n BGR to Grayscale + Flip + Crop + No continuous Mat" << std::endl;
vpImage<unsigned char> I_bgr2gray_flip_crop_no_continuous_sse(I_color_crop.getHeight(), I_color_crop.getWidth());
vpImageConvert::convert(colorMat_crop, I_bgr2gray_flip_crop_no_continuous_sse, true);
filename = vpIoTools::createFilePath(opath, "I_bgr2gray_flip_crop_no_continuous_sse.pgm");
std::cout << " Resulting image saved in: " << filename << std::endl;
vpImageIo::write(I_bgr2gray_flip_crop_no_continuous_sse, filename);
#endif
std::cout << " Test succeed" << std::endl;
}
#if defined(VISP_HAVE_YARP)
// Convert a ViSP to Yarp uchar image
std::cout << "** Test ViSP to Yarp image conversion by copy" << std::endl;
{
bool convert_by_copy = true;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
std::cout << " Reading the gray image with ViSP: " << filename << std::endl;
// Read an image on a disk
vpImageIo::read(I, filename);
yarp::sig::ImageOf< yarp::sig::PixelMono > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
// Convert the vpImage<unsigned char> to a yarp::sig::ImageOf<yarp::sig::PixelMono>
vpImageConvert::convert(I, Iyarp, convert_by_copy);
// Write the image
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy.pgm");
std::cout << " Converted Yarp image saved in: " << filename << std::endl;
yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PGM);
std::cout << " Reading the gray image with Yarp: " << filename << std::endl;
yarp::sig::ImageOf< yarp::sig::PixelMono > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PGM);
vpImageConvert::convert(IIyarp, II, convert_by_copy);
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy_visp.pgm");
std::cout << " Converted image in ViSP saved in: " << filename << std::endl;
vpImageIo::write(II, filename);
if (I != II) {
std::cout << " Yarp gray conversion test failed" << std::endl;
return EXIT_FAILURE;
}
std::cout << std::endl;
}
{
bool convert_by_copy = true;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
std::cout << " Reading the color image with ViSP: " << filename << std::endl;
// Read an image on a disk
vpImageIo::read(I, filename);
yarp::sig::ImageOf< yarp::sig::PixelRgba > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
// Convert the vpImage<vpRGBa> to a yarp::sig::ImageOf<yarp::sig::PixelRgba>
vpImageConvert::convert(I, Iyarp, convert_by_copy);
// Write the image
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy.ppm");
std::cout << " Converted image saved in: " << filename << std::endl;
yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PPM);
std::cout << " Reading the color image with Yarp: " << filename << std::endl;
yarp::sig::ImageOf< yarp::sig::PixelRgba > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PPM);
vpImageConvert::convert(IIyarp, II, convert_by_copy);
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy_visp.ppm");
std::cout << " Converted image in ViSP saved in: " << filename << std::endl;
vpImageIo::write(II, filename);
if (I != II) {
std::cout << " Yarp color conversion test failed" << std::endl;
return EXIT_FAILURE;
}
std::cout << std::endl;
}
std::cout << "** Test ViSP to Yarp image conversion without copy" << std::endl;
{
bool convert_by_copy = false;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
std::cout << " Reading the gray image with ViSP: " << filename << std::endl;
// Read an image on a disk
vpImageIo::read(I, filename);
yarp::sig::ImageOf< yarp::sig::PixelMono > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
// Convert the vpImage<unsigned char> to a yarp::sig::ImageOf<yarp::sig::PixelMono>
vpImageConvert::convert(I, Iyarp, convert_by_copy);
// Write the image
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy.pgm");
std::cout << " Converted Yarp image saved in: " << filename << std::endl;
yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PGM);
std::cout << " Reading the gray image with Yarp: " << filename << std::endl;
yarp::sig::ImageOf< yarp::sig::PixelMono > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PGM);
vpImageConvert::convert(IIyarp, II, convert_by_copy);
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_visp.pgm");
std::cout << " Converted image in ViSP saved in: " << filename << std::endl;
vpImageIo::write(II, filename);
if (I != II) {
std::cout << " Yarp gray conversion test failed" << std::endl;
return EXIT_FAILURE;
}
else {
std::cout << " Yarp gray conversion test succeed" << std::endl;
}
std::cout << std::endl;
}
{
bool convert_by_copy = false;
filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
std::cout << " Reading the color image with ViSP: " << filename << std::endl;
// Read an image on a disk
vpImageIo::read(I, filename);
yarp::sig::ImageOf< yarp::sig::PixelRgba > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
// Convert the vpImage<vpRGBa> to a yarp::sig::ImageOf<yarp::sig::PixelRgba>
vpImageConvert::convert(I, Iyarp, convert_by_copy);
// Write the image
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy.ppm");
std::cout << " Converted image saved in: " << filename << std::endl;
yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PPM);
std::cout << " Reading the color image with Yarp: " << filename << std::endl;
yarp::sig::ImageOf< yarp::sig::PixelRgba > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PPM);
vpImageConvert::convert(IIyarp, II, convert_by_copy);
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_visp.ppm");
std::cout << " Converted image in ViSP saved in: " << filename << std::endl;
vpImageIo::write(II, filename);
if (I != II) {
std::cout << " Yarp RGBa color conversion test failed" << std::endl;
return EXIT_FAILURE;
}
else {
std::cout << " Yarp RGBa color conversion test succeed" << std::endl;
}
yarp::sig::ImageOf< yarp::sig::PixelRgb > *IIIyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgb >();
// Convert the vpImage<vpRGBa> to a yarp::sig::ImageOf<yarp::sig::PixelRgb>
// Write the image
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_rgb.ppm");
std::cout << " Converted RGB image saved in: " << filename << std::endl;
yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PPM);
std::cout << " Reading the RGB color image with Yarp: " << filename << std::endl;
yarp::sig::file::read(*IIIyarp, filename, yarp::sig::file::FORMAT_PPM);
vpImageConvert::convert(IIIyarp, III);
filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_visp_rgb.ppm");
std::cout << " Converted RGB image in ViSP saved in: " << filename << std::endl;
vpImageIo::write(II, filename);
if (I != III) {
std::cout << " Yarp RGB color conversion test failed" << std::endl;
return EXIT_FAILURE;
}
else {
std::cout << " Yarp RGB color conversion test succeed" << std::endl;
}
std::cout << std::endl;
}
#endif
std::cout << "** All the tests succeed" << std::endl;
return EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
return EXIT_FAILURE;
}
}
void start(bool reset=true)
Definition: vpTime.cpp:401
void stop()
Definition: vpTime.cpp:416
double getDurationMs()
Definition: vpTime.cpp:390
error that can be emitted by ViSP classes.
Definition: vpException.h:60
@ fatalError
Fatal error.
Definition: vpException.h:72
const char * getMessage() const
Definition: vpException.cpp:65
static void HSVToRGBa(const double *hue, const double *saturation, const double *value, unsigned char *rgba, unsigned int size)
static void merge(const vpImage< unsigned char > *R, const vpImage< unsigned char > *G, const vpImage< unsigned char > *B, const vpImage< unsigned char > *a, vpImage< vpRGBa > &RGBa)
static void YUVToRGB(unsigned char y, unsigned char u, unsigned char v, unsigned char &r, unsigned char &g, unsigned char &b)
static void split(const vpImage< vpRGBa > &src, vpImage< unsigned char > *pR, vpImage< unsigned char > *pG, vpImage< unsigned char > *pB, vpImage< unsigned char > *pa=nullptr)
static void RGBaToHSV(const unsigned char *rgba, double *hue, double *saturation, double *value, unsigned int size)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static void RGBToGrey(unsigned char *rgb, unsigned char *grey, unsigned int width, unsigned int height, bool flip=false)
static void RGBaToRGB(unsigned char *rgba, unsigned char *rgb, unsigned int size)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:147
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:291
unsigned int getWidth() const
Definition: vpImage.h:242
unsigned int getSize() const
Definition: vpImage.h:221
Type * bitmap
points toward the bitmap
Definition: vpImage.h:135
unsigned int getHeight() const
Definition: vpImage.h:181
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1053
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:396
static std::string getUserName()
Definition: vpIoTools.cpp:285
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1427
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:550
static bool equal(double x, double y, double threshold=0.001)
Definition: vpMath.h:459
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:70
Definition: vpRGBa.h:65