Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
testImageComparison.cpp
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Test the comparison of two vpImage objects of the same type.
33  *
34  * Authors:
35  * Souriya Trinh
36  *
37 *****************************************************************************/
44 #include <visp3/core/vpImage.h>
45 #include <visp3/core/vpIoTools.h>
46 #include <visp3/io/vpImageIo.h>
47 #include <visp3/io/vpParseArgv.h>
48 
49 // List of allowed command line options
50 #define GETOPTARGS "cdi:h"
51 
52 void usage(const char *name, const char *badparam, std::string ipath);
53 bool getOptions(int argc, const char **argv, std::string &ipath);
54 
55 /*
56  Print the program options.
57 
58  \param name : Program name.
59  \param badparam : Bad parameter name.
60  \param ipath: Input image path.
61  */
62 void usage(const char *name, const char *badparam, std::string ipath)
63 {
64  fprintf(stdout, "\n\
65 Test the comparison of two vpImage objects of the same type.\n\
66 \n\
67 SYNOPSIS\n\
68  %s [-i <input image path>]\n\
69  [-h]\n \
70 ",
71  name);
72 
73  fprintf(stdout, "\n\
74 OPTIONS: Default\n\
75  -i <input image path> %s\n\
76  Set image input path.\n\
77  From this path read \"Klimt/Klimt.pgm\"\n\
78  and \"Klimt/Klimt.ppm\" images.\n\
79  Setting the VISP_INPUT_IMAGE_PATH environment\n\
80  variable produces the same behaviour than using\n\
81  this option.\n\
82 \n\
83  -h\n\
84  Print the help.\n\n",
85  ipath.c_str());
86 
87  if (badparam)
88  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
89 }
90 
99 bool getOptions(int argc, const char **argv, std::string &ipath)
100 {
101  const char *optarg_;
102  int c;
103  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
104 
105  switch (c) {
106  case 'i':
107  ipath = optarg_;
108  break;
109  case 'h':
110  usage(argv[0], nullptr, ipath);
111  return false;
112  break;
113 
114  case 'c':
115  case 'd':
116  break;
117 
118  default:
119  usage(argv[0], optarg_, ipath);
120  return false;
121  break;
122  }
123  }
124 
125  if ((c == 1) || (c == -1)) {
126  // standalone param or error
127  usage(argv[0], nullptr, ipath);
128  std::cerr << "ERROR: " << std::endl;
129  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
130  return false;
131  }
132 
133  return true;
134 }
135 
136 int main(int argc, const char **argv)
137 {
138  try {
139  std::string env_ipath;
140  std::string opt_ipath;
141  std::string ipath;
142  std::string filename;
143  std::string username;
144 
145  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
146  // environment variable value
147  env_ipath = vpIoTools::getViSPImagesDataPath();
148 
149  // Set the default input path
150  if (!env_ipath.empty()) {
151  ipath = env_ipath;
152  }
153 
154  // Get the user login name
155  vpIoTools::getUserName(username);
156 
157  // Read the command line options
158  if (getOptions(argc, argv, opt_ipath) == false) {
159  return EXIT_FAILURE;
160  }
161 
162  // Get the option values
163  if (!opt_ipath.empty()) {
164  ipath = opt_ipath;
165  }
166 
167  // Compare ipath and env_ipath. If they differ, we take into account
168  // the input path coming from the command line option
169  if (!opt_ipath.empty() && !env_ipath.empty()) {
170  if (ipath != env_ipath) {
171  std::cout << std::endl << "WARNING: " << std::endl;
172  std::cout << " Since -i <visp image path=" << ipath << "> "
173  << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
174  << " we skip the environment variable." << std::endl;
175  }
176  }
177 
178  // Test if an input path is set
179  if (opt_ipath.empty() && env_ipath.empty()) {
180  usage(argv[0], nullptr, ipath);
181  std::cerr << std::endl << "ERROR:" << std::endl;
182  std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
183  << " environment variable to specify the location of the " << std::endl
184  << " image path where test images are located." << std::endl
185  << std::endl;
186  exit(EXIT_FAILURE);
187  }
188 
189  //
190  // Here starts really the test
191  //
192 
193  // Load grayscale Klimt
194  filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
195 
196  vpImage<unsigned char> I_Klimt1, I_Klimt2;
197  vpImageIo::read(I_Klimt1, filename);
198  vpImageIo::read(I_Klimt2, filename);
199 
200  std::cout << "\nI_Klimt1=" << I_Klimt1.getWidth() << "x" << I_Klimt1.getHeight() << std::endl;
201  std::cout << "I_Klimt2=" << I_Klimt2.getWidth() << "x" << I_Klimt2.getHeight() << std::endl;
202 
203  std::cout << "\nThe two grayscale images are equal." << std::endl;
204  std::cout << "(I_Klimt1 == I_Klimt2)=" << (I_Klimt1 == I_Klimt2) << std::endl;
205  std::cout << "(I_Klimt1 != I_Klimt2)=" << (I_Klimt1 != I_Klimt2) << std::endl;
206 
207  // The two images should be equal
208  if (!(I_Klimt1 == I_Klimt2) || (I_Klimt1 != I_Klimt2)) {
209  std::stringstream ss;
210  ss << "\nProblem when comparing two grayscale images!\n";
211  ss << "(I_Klimt1 == I_Klimt2)=" << (I_Klimt1 == I_Klimt2) << std::endl;
212  ss << "(I_Klimt1 != I_Klimt2)=" << (I_Klimt1 != I_Klimt2) << std::endl;
213 
214  throw vpException(vpException::fatalError, ss.str());
215  }
216 
217  // Modify I_Klimt1
218  if (I_Klimt1[I_Klimt1.getHeight() / 2][I_Klimt1.getWidth() / 2] < 255) {
219  I_Klimt1[I_Klimt1.getHeight() / 2][I_Klimt1.getWidth() / 2]++;
220  } else {
221  I_Klimt1[I_Klimt1.getHeight() / 2][I_Klimt1.getWidth() / 2]--;
222  }
223 
224  std::cout << "\nThe two grayscale images are different." << std::endl;
225  std::cout << "(I_Klimt1 == I_Klimt2)=" << (I_Klimt1 == I_Klimt2) << std::endl;
226  std::cout << "(I_Klimt1 != I_Klimt2)=" << (I_Klimt1 != I_Klimt2) << std::endl;
227 
228  // The two images should be different
229  if ((I_Klimt1 == I_Klimt2) || !(I_Klimt1 != I_Klimt2)) {
230  std::stringstream ss;
231  ss << "\nProblem when comparing two grayscale images!\n";
232  ss << "(I_Klimt1 == I_Klimt2)=" << (I_Klimt1 == I_Klimt2) << std::endl;
233  ss << "(I_Klimt1 != I_Klimt2)=" << (I_Klimt1 != I_Klimt2) << std::endl;
234 
235  throw vpException(vpException::fatalError, ss.str());
236  }
237 
238  // Load color Klimt
239  filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
240 
241  vpImage<vpRGBa> I_color_Klimt1, I_color_Klimt2;
242  vpImageIo::read(I_color_Klimt1, filename);
243  I_color_Klimt2 = I_color_Klimt1;
244 
245  std::cout << "\nI_color_Klimt1=" << I_color_Klimt1.getWidth() << "x" << I_color_Klimt1.getHeight() << std::endl;
246  std::cout << "I_color_Klimt2=" << I_color_Klimt2.getWidth() << "x" << I_color_Klimt2.getHeight() << std::endl;
247 
248  std::cout << "\nThe two color images are equal." << std::endl;
249  std::cout << "(I_color_Klimt1 == I_color_Klimt2)=" << (I_color_Klimt1 == I_color_Klimt2) << std::endl;
250  std::cout << "(I_color_Klimt1 != I_color_Klimt2)=" << (I_color_Klimt1 != I_color_Klimt2) << std::endl;
251 
252  // The two images should be equal
253  if (!(I_color_Klimt1 == I_color_Klimt2) || (I_color_Klimt1 != I_color_Klimt2)) {
254  std::stringstream ss;
255  ss << "\nProblem when comparing two color images!\n";
256  ss << "(I_color_Klimt1 == I_color_Klimt2)=" << (I_color_Klimt1 == I_color_Klimt2) << std::endl;
257  ss << "(I_color_Klimt1 != I_color_Klimt2)=" << (I_color_Klimt1 != I_color_Klimt2) << std::endl;
258 
259  throw vpException(vpException::fatalError, ss.str());
260  }
261 
262  // Modify I_color_Klimt2
263  if (I_color_Klimt2[I_color_Klimt2.getHeight() / 2][I_color_Klimt2.getWidth() / 2].R < 255) {
264  I_color_Klimt2[I_color_Klimt2.getHeight() / 2][I_color_Klimt2.getWidth() / 2].R++;
265  } else {
266  I_color_Klimt2[I_color_Klimt2.getHeight() / 2][I_color_Klimt2.getWidth() / 2].R--;
267  }
268 
269  std::cout << "\nThe two color images are different." << std::endl;
270  std::cout << "(I_color_Klimt1 == I_color_Klimt2)=" << (I_color_Klimt1 == I_color_Klimt2) << std::endl;
271  std::cout << "(I_color_Klimt1 != I_color_Klimt2)=" << (I_color_Klimt1 != I_color_Klimt2) << std::endl;
272 
273  // The two images should be different
274  if ((I_color_Klimt1 == I_color_Klimt2) || !(I_color_Klimt1 != I_color_Klimt2)) {
275  std::stringstream ss;
276  ss << "\nProblem when comparing two color images!\n";
277  ss << "(I_color_Klimt1 == I_color_Klimt2)=" << (I_color_Klimt1 == I_color_Klimt2) << std::endl;
278  ss << "(I_color_Klimt1 != I_color_Klimt2)=" << (I_color_Klimt1 != I_color_Klimt2) << std::endl;
279 
280  throw vpException(vpException::fatalError, ss.str());
281  }
282 
283  } catch (const vpException &e) {
284  std::cerr << "\nCatch an exception: " << e << std::endl;
285  return EXIT_FAILURE;
286  }
287 
288  std::cout << "\nThe comparison of two images of the same type is OK!" << std::endl;
289  return EXIT_SUCCESS;
290 }
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ fatalError
Fatal error.
Definition: vpException.h:84
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:143
unsigned int getWidth() const
Definition: vpImage.h:242
unsigned int getHeight() const
Definition: vpImage.h:184
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1786
static std::string getUserName()
Definition: vpIoTools.cpp:711
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:2147
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69