Visual Servoing Platform version 3.5.0
testAutoThreshold.cpp
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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
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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.
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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.
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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
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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 automatic thresholding.
33 *
34 * Authors:
35 * Souriya Trinh
36 *
37 *****************************************************************************/
38
39#include <visp3/core/vpImageTools.h>
40#include <visp3/core/vpIoTools.h>
41#include <visp3/imgproc/vpImgproc.h>
42#include <visp3/io/vpImageIo.h>
43#include <visp3/io/vpParseArgv.h>
44
51// List of allowed command line options
52#define GETOPTARGS "cdi:o:h"
53
54void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user);
55bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user);
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 */
66void usage(const char *name, const char *badparam, std::string ipath, std::string opath, std::string user)
67{
68 fprintf(stdout, "\n\
69Test automatic thresholding.\n\
70\n\
71SYNOPSIS\n\
72 %s [-i <input image path>] [-o <output image path>]\n\
73 [-h]\n \
74", name);
75
76 fprintf(stdout, "\n\
77OPTIONS: Default\n\
78 -i <input image path> %s\n\
79 Set image input path.\n\
80 From this path read \"Klimt/Klimt.pgm\"\n\
81 image.\n\
82 Setting the VISP_INPUT_IMAGE_PATH environment\n\
83 variable produces the same behaviour than using\n\
84 this option.\n\
85\n\
86 -o <output image path> %s\n\
87 Set image output path.\n\
88 From this directory, creates the \"%s\"\n\
89 subdirectory depending on the username, where \n\
90 output result images are written.\n\
91\n\
92 -h\n\
93 Print the help.\n\n", ipath.c_str(), opath.c_str(), user.c_str());
94
95 if (badparam)
96 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
97}
98
110bool getOptions(int argc, const char **argv, std::string &ipath, std::string &opath, std::string user)
111{
112 const char *optarg_;
113 int c;
114 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
115
116 switch (c) {
117 case 'i':
118 ipath = optarg_;
119 break;
120 case 'o':
121 opath = optarg_;
122 break;
123 case 'h':
124 usage(argv[0], NULL, ipath, opath, user);
125 return false;
126 break;
127
128 case 'c':
129 case 'd':
130 break;
131
132 default:
133 usage(argv[0], optarg_, ipath, opath, user);
134 return false;
135 break;
136 }
137 }
138
139 if ((c == 1) || (c == -1)) {
140 // standalone param or error
141 usage(argv[0], NULL, ipath, opath, user);
142 std::cerr << "ERROR: " << std::endl;
143 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
144 return false;
145 }
146
147 return true;
148}
149
150int main(int argc, const char **argv)
151{
152 try {
153 std::string env_ipath;
154 std::string opt_ipath;
155 std::string opt_opath;
156 std::string ipath;
157 std::string opath;
158 std::string filename;
159 std::string username;
160
161 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
162 // environment variable value
164
165 // Set the default input path
166 if (!env_ipath.empty())
167 ipath = env_ipath;
168
169// Set the default output path
170#if defined(_WIN32)
171 opt_opath = "C:/temp";
172#else
173 opt_opath = "/tmp";
174#endif
175
176 // Get the user login name
177 vpIoTools::getUserName(username);
178
179 // Read the command line options
180 if (getOptions(argc, argv, opt_ipath, opt_opath, username) == false) {
181 exit(EXIT_FAILURE);
182 }
183
184 // Get the option values
185 if (!opt_ipath.empty())
186 ipath = opt_ipath;
187 if (!opt_opath.empty())
188 opath = opt_opath;
189
190 // Append to the output path string, the login name of the user
191 opath = vpIoTools::createFilePath(opath, username);
192
193 // Test if the output path exist. If no try to create it
194 if (vpIoTools::checkDirectory(opath) == false) {
195 try {
196 // Create the dirname
198 } catch (...) {
199 usage(argv[0], NULL, ipath, opt_opath, username);
200 std::cerr << std::endl << "ERROR:" << std::endl;
201 std::cerr << " Cannot create " << opath << std::endl;
202 std::cerr << " Check your -o " << opt_opath << " option " << std::endl;
203 exit(EXIT_FAILURE);
204 }
205 }
206
207 // Compare ipath and env_ipath. If they differ, we take into account
208 // the input path comming from the command line option
209 if (!opt_ipath.empty() && !env_ipath.empty()) {
210 if (ipath != env_ipath) {
211 std::cout << std::endl << "WARNING: " << std::endl;
212 std::cout << " Since -i <visp image path=" << ipath << "> "
213 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
214 << " we skip the environment variable." << std::endl;
215 }
216 }
217
218 // Test if an input path is set
219 if (opt_ipath.empty() && env_ipath.empty()) {
220 usage(argv[0], NULL, ipath, opt_opath, username);
221 std::cerr << std::endl << "ERROR:" << std::endl;
222 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
223 << " environment variable to specify the location of the " << std::endl
224 << " image path where test images are located." << std::endl
225 << std::endl;
226 exit(EXIT_FAILURE);
227 }
228
229 //
230 // Here starts really the test
231 //
232
233 filename = vpIoTools::createFilePath(ipath, "calibration/grid36-03.pgm");
235 vpImageIo::read(I, filename);
236 std::cout << "Read: " << filename << " (" << I.getWidth() << "x" << I.getHeight() << ")" << std::endl;
237
238 vpImage<unsigned char> I_thresh = I;
239
240 // Huang
241 double t = vpTime::measureTimeMs();
242 double threshold = vp::autoThreshold(I_thresh, vp::AUTO_THRESHOLD_HUANG);
243 t = vpTime::measureTimeMs() - t;
244 std::cout << "\nAutomatic thresholding (Huang): " << threshold << " ; t=" << t << " ms" << std::endl;
245
246 filename = vpIoTools::createFilePath(opath, "grid36-03_auto_thresh_huang.pgm");
247 vpImageIo::write(I_thresh, filename);
248 std::cout << "Write: " << filename << std::endl;
249
250 // Intermodes
251 I_thresh = I;
254 t = vpTime::measureTimeMs() - t;
255 std::cout << "\nAutomatic thresholding (Intermodes): " << threshold << " ; t=" << t << " ms" << std::endl;
256
257 filename = vpIoTools::createFilePath(opath, "grid36-03_auto_thresh_intermodes.pgm");
258 vpImageIo::write(I_thresh, filename);
259 std::cout << "Write: " << filename << std::endl;
260
261 // IsoData
262 I_thresh = I;
264 threshold = vp::autoThreshold(I_thresh, vp::AUTO_THRESHOLD_ISODATA);
265 t = vpTime::measureTimeMs() - t;
266 std::cout << "\nAutomatic thresholding (IsoData): " << threshold << " ; t=" << t << " ms" << std::endl;
267
268 filename = vpIoTools::createFilePath(opath, "grid36-03_auto_thresh_isodata.pgm");
269 vpImageIo::write(I_thresh, filename);
270 std::cout << "Write: " << filename << std::endl;
271
272 // Mean
273 I_thresh = I;
275 threshold = vp::autoThreshold(I_thresh, vp::AUTO_THRESHOLD_MEAN);
276 t = vpTime::measureTimeMs() - t;
277 std::cout << "\nAutomatic thresholding (Mean): " << threshold << " ; t=" << t << " ms" << std::endl;
278
279 filename = vpIoTools::createFilePath(opath, "grid36-03_auto_thresh_mean.pgm");
280 vpImageIo::write(I_thresh, filename);
281 std::cout << "Write: " << filename << std::endl;
282
283 // Otsu
284 I_thresh = I;
286 threshold = vp::autoThreshold(I_thresh, vp::AUTO_THRESHOLD_OTSU);
287 t = vpTime::measureTimeMs() - t;
288 std::cout << "\nAutomatic thresholding (Otsu): " << threshold << " ; t=" << t << " ms" << std::endl;
289
290 filename = vpIoTools::createFilePath(opath, "grid36-03_auto_thresh_otsu.pgm");
291 vpImageIo::write(I_thresh, filename);
292 std::cout << "Write: " << filename << std::endl;
293
294 // Triangle
295 I_thresh = I;
297 threshold = vp::autoThreshold(I_thresh, vp::AUTO_THRESHOLD_TRIANGLE);
298 t = vpTime::measureTimeMs() - t;
299 std::cout << "\nAutomatic thresholding (Triangle): " << threshold << " ; t=" << t << " ms" << std::endl;
300
301 filename = vpIoTools::createFilePath(opath, "grid36-03_auto_thresh_Triangle.pgm");
302 vpImageIo::write(I_thresh, filename);
303 std::cout << "Write: " << filename << std::endl;
304
305 return EXIT_SUCCESS;
306 } catch (const vpException &e) {
307 std::cerr << "Catch an exception: " << e.what() << std::endl;
308 return EXIT_FAILURE;
309 }
310}
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
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
unsigned int getWidth() const
Definition: vpImage.h:246
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
VISP_EXPORT unsigned char autoThreshold(vpImage< unsigned char > &I, const vp::vpAutoThresholdMethod &method, const unsigned char backgroundValue=0, const unsigned char foregroundValue=255)
VISP_EXPORT double measureTimeMs()
@ AUTO_THRESHOLD_ISODATA
Definition: vpImgproc.h:67
@ AUTO_THRESHOLD_HUANG
Definition: vpImgproc.h:59
@ AUTO_THRESHOLD_INTERMODES
Definition: vpImgproc.h:63
@ AUTO_THRESHOLD_TRIANGLE
Definition: vpImgproc.h:79
@ AUTO_THRESHOLD_MEAN
Definition: vpImgproc.h:71
@ AUTO_THRESHOLD_OTSU
Definition: vpImgproc.h:75