test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/system/CTimeLogger.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/math/CMatrix.h>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::img;
using namespace mrpt::math;
using namespace mrpt::system;
using namespace std;
 
#include <mrpt/examples_config.h>
string myDataDir(MRPT_EXAMPLES_BASE_DIRECTORY + string("img_basic_example/"));
 
// ------------------------------------------------------
//                              TestImageCap
// ------------------------------------------------------
void TestImageConversion()
{
        // BMP -> JPEG conversion tester:
        // --------------------------------
        CImage img, img2;
        CTicTac tictac;
        CTimeLogger timlog;
 
        tictac.Tic();
        if (!img.loadFromFile(myDataDir + string("frame_color.jpg")))
        {
                cerr << "Cannot load " << myDataDir + string("frame_color.jpg") << endl;
                return;
        }
        printf("Image loaded in %.03fms\n", 1000 * tictac.Tac());
 
        if (false)  // A very simple test:
        {
                CDisplayWindow win1("JPEG file, color");
                win1.setPos(10, 10);
 
                win1.showImage(img);
 
                cout << "Push a key in the console or in the window to continue...";
                win1.waitForKey();
                cout << "Done" << endl;
 
                timlog.enter("grayscale1");
                img = img.grayscale();
                timlog.leave("grayscale1");
 
                CDisplayWindow win2("JPEG file, gray");
                win2.showImage(img);
                win1.setPos(300, 10);
 
                cout << "Push a key in the console or in the window to continue...";
                win2.waitForKey();
                cout << "Done" << endl;
 
                mrpt::system::pause();
                return;
        }
 
        CDisplayWindow win1("win1"), win2("win2"), win3("win3"), win4("win4");
 
        CImage imgSmall(img);
        CImage imgGray;
 
        for (int i = 0; i < 50; i++)
        {
                timlog.enter("grayscale2");
                imgSmall.grayscale(imgGray);
                timlog.leave("grayscale2");
        }
 
        CImage imgSmall2(imgGray.scaleHalfSmooth());
        CImage imgSmallRGB(img.scaleHalf());  // Smooth() );
 
        // Test some draw capabilities:
        // ---------------------------------
        imgSmall.rectangle(85, 35, 170, 170, TColor(255, 0, 0), 10);
 
        imgSmall.line(550, 75, 650, 25, TColor(0, 0, 255));
        imgSmall.line(-10, -20, 20, 30, TColor(0, 0, 255));
 
        CMatrix COV(2, 2);
        COV(0, 0) = 100;
        COV(1, 1) = 50;
        COV(0, 1) = COV(1, 0) = -30;
        imgSmall.ellipseGaussian(&COV, 600.0f, 50.0f, 2, TColor(255, 255, 0), 4);
        imgGray.ellipseGaussian(&COV, 100.0f, 100.0f, 2, TColor(0, 0, 255), 4);
 
        imgSmall.drawImage(400, 500, imgGray);
 
        // Show the windows now:
        // ------------------------------------------------------
        win1.showImage(imgSmall);
        win1.setPos(0, 0);
        win2.showImage(imgSmall2);
        win2.setPos(810, 0);
        win3.showImage(imgGray);
        win3.setPos(810, 300);
        win4.showImage(imgSmallRGB);
        win4.setPos(300, 400);
 
        cout << "Press any key on 'win4' to exit" << endl;
        win4.waitForKey();
 
        tictac.Tic();
        img2.saveToFile("frame_out.jpg");
        printf("jpeg file saved in %.03fms\n", 1000.0f * tictac.Tac());
 
        imgSmall2.saveToFile("frame_out_small.png");
 
        return;
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main()
{
        try
        {
                TestImageConversion();
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}