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/system/CTimeLogger.h>
#include <mrpt/vision/chessboard_camera_calib.h>
#include <mrpt/vision/chessboard_find_corners.h>
#include <mrpt/gui/CDisplayWindow.h>
#include <iostream>
 
using namespace std;
using namespace mrpt;
using namespace mrpt::img;
using namespace mrpt::vision;
using namespace mrpt::system;
using namespace mrpt::gui;
 
#include <mrpt/examples_config.h>
std::string myDataDir =
        MRPT_EXAMPLES_BASE_DIRECTORY + string("vision_multiple_checkerboards/");
 
// ------------------------------------------------------
//                              TestMultipleCheckerboard
// ------------------------------------------------------
void TestMultipleCheckerboard(
        const std::string& img_filename, const unsigned int checkerboard_size_x,
        const unsigned int checkerboard_size_y)
{
        CTimeLogger timlog;
 
        // Load img:
        CImage img;
        if (!img.loadFromFile(img_filename))
                throw std::runtime_error("Can't load image!");
 
        // Detect multiple-checkerboards:
        vector<vector<TPixelCoordf>> listCornerCoords;
 
        timlog.enter("findMultipleChessboardsCorners");
 
        mrpt::vision::findMultipleChessboardsCorners(
                img, listCornerCoords, checkerboard_size_x, checkerboard_size_y);
 
        timlog.leave("findMultipleChessboardsCorners");
 
        cout << "Number of checkerboards detected: " << listCornerCoords.size()
                 << endl;
 
        // Draw:
        CImage img_detect;
        img.colorImage(img_detect);
        for (size_t i = 0; i < listCornerCoords.size(); i++)
                img_detect.drawChessboardCorners(
                        listCornerCoords[i], checkerboard_size_x, checkerboard_size_y);
 
        // Show results:
        CDisplayWindow win1("Detected checkerboards ");
        win1.showImage(img_detect);
 
        timlog.dumpAllStats();
        timlog.clear();
 
        // wait till user closes any window:
        win1.waitForKey();
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main(int argc, char** argv)
{
        try
        {
                std::string sFile = myDataDir + string("test_3_checkerboards_5x4.jpg");
                unsigned int checkerboard_size_x = 5;
                unsigned int checkerboard_size_y = 4;
 
                if (argc == 4)
                {
                        sFile = std::string(argv[1]);
                        checkerboard_size_x = atoi(argv[2]);
                        checkerboard_size_y = atoi(argv[3]);
                }
                else if (argc != 1)
                {
                        std::cerr << "Usage: " << argv[0] << " [IMAGE_FILE NX NY]\n";
                        return 1;
                }
 
                TestMultipleCheckerboard(
                        sFile, checkerboard_size_x, checkerboard_size_y);
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}