test.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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/img/CImage.h>
#include <mrpt/system/CTimeLogger.h>
#include <mrpt/vision/chessboard_find_corners.h>
#include <mrpt/gui.h>
#include <iostream>
 
using namespace std;
using namespace mrpt;
using namespace mrpt::img;
using namespace mrpt::system;
using namespace mrpt::gui;
 
#include <mrpt/examples_config.h>
std::string myDataDir =
        MRPT_EXAMPLES_BASE_DIRECTORY + string("vision_checkerboard_detectors/");
 
// ------------------------------------------------------
//                              TestCheckerboardDetectors
// ------------------------------------------------------
void TestCheckerboardDetectors()
{
        CTimeLogger timlog;
 
        // Load img:
        CImage img;
        if (!img.loadFromFile(myDataDir + string("test_1_checkerboard_9x6.jpg")))
                throw std::runtime_error("Can't load demo image!");
 
        // Detect multiple-checkerboards:
        vector<TPixelCoordf> cornerCoords;
        const unsigned int checkerboard_size_x = 6;
        const unsigned int checkerboard_size_y = 9;
 
        // Detect:
        timlog.enter("findChessboardCorners [OpenCV]");
 
        // bool detectOk1 =
        mrpt::vision::findChessboardCorners(
                img, cornerCoords, checkerboard_size_x, checkerboard_size_y,
                true,  // normalize_image
                false  // useScaramuzzaMethod
                );
 
        timlog.leave("findChessboardCorners [OpenCV]");
 
        // Draw:
        CImage img_detect1 = img;
        img_detect1.drawChessboardCorners(
                cornerCoords, checkerboard_size_x, checkerboard_size_y);
 
        timlog.enter("findChessboardCorners [Scaramuzza]");
 
        // bool detectOk2 =
        mrpt::vision::findChessboardCorners(
                img, cornerCoords, checkerboard_size_x, checkerboard_size_y,
                true,  // normalize_image
                true  // useScaramuzzaMethod
                );
 
        timlog.leave("findChessboardCorners [Scaramuzza]");
 
        // Draw:
        CImage img_detect2 = img;
        img_detect2.drawChessboardCorners(
                cornerCoords, checkerboard_size_x, checkerboard_size_y);
 
        // ASSERT_(detectOk1 && detectOk2);
 
        // Show results:
        CDisplayWindow win1("Detected checkerboard (OpenCV)");
        win1.showImage(img_detect1);
 
        CDisplayWindow win2("Detected checkerboard (Scaramuzza)");
        win2.showImage(img_detect2);
 
        timlog.dumpAllStats();
        timlog.clear();
 
        // wait till user closes any window:
        while (win1.isOpen() && win2.isOpen())
        {
                std::this_thread::sleep_for(10ms);
        }
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main()
{
        try
        {
                TestCheckerboardDetectors();
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}