Visual Servoing Platform version 3.5.0
testCropAdvanced.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test for sub-image extraction.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#include <visp3/core/vpImageTools.h>
40#include <visp3/core/vpIoTools.h>
41#include <visp3/io/vpImageIo.h>
42#include <visp3/io/vpParseArgv.h>
43
53// List of allowed command line options
54#define GETOPTARGS "cdi:o:h"
55
56/*
57
58 Print the program options.
59
60 \param name : Program name.
61 \param badparam : Bad parameter name.
62 \param ipath: Input image path.
63 \param opath : Output image path.
64 \param user : Username.
65
66 */
67void usage(const char *name, const char *badparam, const std::string &ipath, const std::string &opath,
68 const std::string &user)
69{
70 fprintf(stdout, "\n\
71Read an image from the disk (Klimt.pgm and klimp.ppm), crop a rectangular area\n\
72and check the resultings images.\n\
73\n\
74SYNOPSIS\n\
75 %s [-i <input image path>] [-o <output image path>] [-h]\n", name);
76
77 fprintf(stdout, "\n\
78OPTIONS: Default\n\
79 -i <input image path> %s\n\
80 Set image input path.\n\
81 From this path read \"Klimt/Klimt.pgm\"\n\
82 image.\n\
83 Setting the VISP_INPUT_IMAGE_PATH environment\n\
84 variable produces the same behaviour than using\n\
85 this option.\n\
86\n\
87 -o <output image path> %s\n\
88 Set image output path.\n\
89 From this directory, creates the \"%s\"\n\
90 subdirectory depending on the username, where \n\
91 resulting images are written.\n\
92 \n\
93 -h\n\
94 Print the help.\n\n", ipath.c_str(), opath.c_str(), user.c_str());
95
96 if (badparam)
97 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
98}
99
112bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, const std::string &user)
113{
114 const char *optarg_;
115 int c;
116 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
117
118 switch (c) {
119 case 'i':
120 ipath = optarg_;
121 break;
122 case 'o':
123 opath = optarg_;
124 break;
125 case 'h':
126 usage(argv[0], NULL, ipath, opath, user);
127 return false;
128 break;
129
130 case 'c':
131 case 'd':
132 break;
133
134 default:
135 usage(argv[0], optarg_, ipath, opath, user);
136 return false;
137 break;
138 }
139 }
140
141 if ((c == 1) || (c == -1)) {
142 // standalone param or error
143 usage(argv[0], NULL, ipath, opath, user);
144 std::cerr << "ERROR: " << std::endl;
145 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
146 return false;
147 }
148
149 return true;
150}
151
152int main(int argc, const char **argv)
153{
154 try {
155 std::string env_ipath;
156 std::string opt_ipath;
157 std::string opt_opath;
158 std::string ipath;
159 std::string opath;
160 std::string username;
161
162 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
163 // environment variable value
165
166 // Set the default input path
167 if (!env_ipath.empty())
168 ipath = env_ipath;
169
170// Set the default output path
171#if defined(_WIN32)
172 opt_opath = "C:/temp";
173#else
174 opt_opath = "/tmp";
175#endif
176
177 // Get the user login name
178 vpIoTools::getUserName(username);
179
180 // Read the command line options
181 if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
182 exit(-1);
183 }
184
185 // Get the option values
186 if (!opt_ipath.empty())
187 ipath = opt_ipath;
188 if (!opt_opath.empty())
189 opath = opt_opath;
190
191 // Append to the output path string, the login name of the user
192 opath = vpIoTools::createFilePath(opath, username);
193
194 // Test if the output path exist. If no try to create it
195 if (vpIoTools::checkDirectory(opath) == false) {
196 try {
197 // Create the dirname
199 } catch (...) {
200 usage(argv[0], NULL, ipath, opt_opath, username);
201 std::cerr << std::endl << "ERROR:" << std::endl;
202 std::cerr << " Cannot create " << opath << std::endl;
203 std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
204 exit(-1);
205 }
206 }
207
208 // Compare ipath and env_ipath. If they differ, we take into account
209 // the input path comming from the command line option
210 if (opt_ipath.empty()) {
211 if (ipath != env_ipath) {
212 std::cout << std::endl << "WARNING: " << std::endl;
213 std::cout << " Since -i <visp image path=" << ipath << "> "
214 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
215 << " we skip the environment variable." << std::endl;
216 }
217 }
218
219 // Test if an input path is set
220 if (opt_ipath.empty() && env_ipath.empty()) {
221 usage(argv[0], NULL, ipath, opt_opath, username);
222 std::cerr << std::endl << "ERROR:" << std::endl;
223 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
224 << " environment variable to specify the location of the " << std::endl
225 << " image path where test images are located." << std::endl
226 << std::endl;
227 exit(-1);
228 }
229
230 if (1) {
232
233 // Read the input grey image from the disk
234 std::string filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
235 std::cout << "Read image: " << filename << std::endl;
236 vpImageIo::read(I, filename);
237 std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
238
239 std::vector<vpImage<unsigned char> > reference;
240
242 vpImageTools::crop(I, 100, 100, 640, 640, crop);
243 reference.push_back(crop);
244 filename = vpIoTools::createFilePath(opath, "Klimt_uchar_ref_crop-1x1.pgm");
245 std::cout << " Cropped image reference saved in: " << filename << std::endl;
246 vpImageIo::write(crop, filename);
247
248 vpImageTools::crop(I, 100, 100, 640, 640, crop, 2, 1);
249 reference.push_back(crop);
250 filename = vpIoTools::createFilePath(opath, "Klimt_uchar_ref_crop-2x1.pgm");
251 std::cout << " Cropped image reference saved in: " << filename << std::endl;
252 vpImageIo::write(crop, filename);
253
254 vpImageTools::crop(I, 100, 100, 640, 640, crop, 2, 2);
255 reference.push_back(crop);
256 filename = vpIoTools::createFilePath(opath, "Klimt_uchar_ref_crop-2x2.pgm");
257 std::cout << " Cropped image reference saved in: " << filename << std::endl;
258 vpImageIo::write(crop, filename);
259
260 vpRect roi(100, 100, 640, 640);
261 vpImageTools::crop(I, roi, crop);
262 filename = vpIoTools::createFilePath(opath, "Klimt_uchar_roi_crop-1x1.pgm");
263 std::cout << " Cropped image saved in: " << filename << std::endl;
264 vpImageIo::write(crop, filename);
265 if (crop != reference[0]) {
266 std::cout << "Test 1 failed on uchar" << std::endl;
267 return -1;
268 }
269
270 vpImageTools::crop(I, roi, crop, 2, 1);
271 filename = vpIoTools::createFilePath(opath, "Klimt_uchar_roi_crop-2x1.pgm");
272 std::cout << " Cropped image saved in: " << filename << std::endl;
273 vpImageIo::write(crop, filename);
274 if (crop != reference[1]) {
275 std::cout << "Test 2 failed on uchar" << std::endl;
276 return -1;
277 }
278
279 vpImageTools::crop(I, roi, crop, 2, 2);
280 filename = vpIoTools::createFilePath(opath, "Klimt_uchar_roi_crop-2x2.pgm");
281 std::cout << " Cropped image saved in: " << filename << std::endl;
282 vpImageIo::write(crop, filename);
283 if (crop != reference[2]) {
284 std::cout << "Test 3 failed on uchar" << std::endl;
285 return -1;
286 }
287
288 vpImageTools::crop(I.bitmap, I.getWidth(), I.getHeight(), roi, crop);
289 filename = vpIoTools::createFilePath(opath, "Klimt_uchar_bitmap_crop-1x1.pgm");
290 std::cout << " Cropped image saved in: " << filename << std::endl;
291 vpImageIo::write(crop, filename);
292 if (crop != reference[0]) {
293 std::cout << "Test 4 failed on uchar" << std::endl;
294 return -1;
295 }
296
297 vpImageTools::crop(I.bitmap, I.getWidth(), I.getHeight(), roi, crop, 2, 1);
298 filename = vpIoTools::createFilePath(opath, "Klimt_uchar_bitmap_crop-2x1.pgm");
299 std::cout << " Cropped image saved in: " << filename << std::endl;
300 vpImageIo::write(crop, filename);
301 if (crop != reference[1]) {
302 std::cout << "Test 5 failed on uchar" << std::endl;
303 return -1;
304 }
305
306 vpImageTools::crop(I.bitmap, I.getWidth(), I.getHeight(), roi, crop, 2, 2);
307 filename = vpIoTools::createFilePath(opath, "Klimt_uchar_bitmap_crop-2x2.pgm");
308 std::cout << " Cropped image saved in: " << filename << std::endl;
309 vpImageIo::write(crop, filename);
310 if (crop != reference[2]) {
311 std::cout << "Test 6 failed on uchar" << std::endl;
312 return -1;
313 }
314 }
315
316 if (1) {
318
319 // Read the input color image from the disk
320 std::string filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
321 std::cout << "Read image: " << filename << std::endl;
322 vpImageIo::read(I, filename);
323 std::cout << "Image size: " << I.getWidth() << " " << I.getHeight() << std::endl;
324
325 vpImage<vpRGBa> crop;
326
327 std::vector<vpImage<vpRGBa> > reference;
328
329 vpImageTools::crop(I, 100, 100, 640, 640, crop);
330 reference.push_back(crop);
331 filename = vpIoTools::createFilePath(opath, "Klimt_rgba_ref_crop-1x1.pgm");
332 std::cout << " Cropped image reference saved in: " << filename << std::endl;
333 vpImageIo::write(crop, filename);
334
335 vpImageTools::crop(I, 100, 100, 640, 640, crop, 2, 1);
336 reference.push_back(crop);
337 filename = vpIoTools::createFilePath(opath, "Klimt_rgba_ref_crop-2x1.pgm");
338 std::cout << " Cropped image reference saved in: " << filename << std::endl;
339 vpImageIo::write(crop, filename);
340
341 vpImageTools::crop(I, 100, 100, 640, 640, crop, 2, 2);
342 reference.push_back(crop);
343 filename = vpIoTools::createFilePath(opath, "Klimt_rgba_ref_crop-2x2.pgm");
344 std::cout << " Cropped image reference saved in: " << filename << std::endl;
345 vpImageIo::write(crop, filename);
346
347 vpRect roi(100, 100, 640, 640);
348 vpImageTools::crop(I, roi, crop);
349 filename = vpIoTools::createFilePath(opath, "Klimt_rgba_roi_crop-1x1.pgm");
350 std::cout << " Cropped image saved in: " << filename << std::endl;
351 vpImageIo::write(crop, filename);
352 if (crop != reference[0]) {
353 std::cout << "Test 1 failed on uchar" << std::endl;
354 return -1;
355 }
356
357 vpImageTools::crop(I, roi, crop, 2, 1);
358 filename = vpIoTools::createFilePath(opath, "Klimt_rgba_roi_crop-2x1.pgm");
359 std::cout << " Cropped image saved in: " << filename << std::endl;
360 vpImageIo::write(crop, filename);
361 if (crop != reference[1]) {
362 std::cout << "Test 2 failed on uchar" << std::endl;
363 return -1;
364 }
365
366 vpImageTools::crop(I, roi, crop, 2, 2);
367 filename = vpIoTools::createFilePath(opath, "Klimt_rgba_roi_crop-2x2.pgm");
368 std::cout << " Cropped image saved in: " << filename << std::endl;
369 vpImageIo::write(crop, filename);
370 if (crop != reference[2]) {
371 std::cout << "Test 3 failed on uchar" << std::endl;
372 return -1;
373 }
374
375 vpImageTools::crop((unsigned char *)I.bitmap, I.getWidth(), I.getHeight(), roi, crop);
376 filename = vpIoTools::createFilePath(opath, "Klimt_rgba_bitmap_crop-1x1.pgm");
377 std::cout << " Cropped image saved in: " << filename << std::endl;
378 vpImageIo::write(crop, filename);
379 if (crop != reference[0]) {
380 std::cout << "Test 4 failed on uchar" << std::endl;
381 return -1;
382 }
383
384 vpImageTools::crop((unsigned char *)I.bitmap, I.getWidth(), I.getHeight(), roi, crop, 2, 1);
385 filename = vpIoTools::createFilePath(opath, "Klimt_rgba_bitmap_crop-2x1.pgm");
386 std::cout << " Cropped image saved in: " << filename << std::endl;
387 vpImageIo::write(crop, filename);
388 if (crop != reference[1]) {
389 std::cout << "Test 5 failed on uchar" << std::endl;
390 return -1;
391 }
392
393 vpImageTools::crop((unsigned char *)I.bitmap, I.getWidth(), I.getHeight(), roi, crop, 2, 2);
394 filename = vpIoTools::createFilePath(opath, "Klimt_rgba_bitmap_crop-2x2.pgm");
395 std::cout << " Cropped image saved in: " << filename << std::endl;
396 vpImageIo::write(crop, filename);
397 if (crop != reference[2]) {
398 std::cout << "Test 6 failed on uchar" << std::endl;
399 return -1;
400 }
401 }
402
403 std::cout << "Test succeed" << std::endl;
404 return 0;
405 } catch (const vpException &e) {
406 std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
407 return -1;
408 }
409}
error that can be emited by ViSP classes.
Definition: vpException.h:72
const std::string & getStringMessage() const
Send a reference (constant) related the error message (can be empty).
Definition: vpException.cpp:92
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:293
static void crop(const vpImage< Type > &I, double roi_top, double roi_left, unsigned int roi_height, unsigned int roi_width, vpImage< Type > &crop, unsigned int v_scale=1, unsigned int h_scale=1)
Definition: vpImageTools.h:305
unsigned int getWidth() const
Definition: vpImage.h:246
Type * bitmap
points toward the bitmap
Definition: vpImage.h:143
unsigned int getHeight() const
Definition: vpImage.h:188
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:420
static std::string getUserName()
Definition: vpIoTools.cpp:316
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:570
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Defines a rectangle in the plane.
Definition: vpRect.h:80