gocam_test.cc

   1 #include <CImg.h>
   2 #include "gocam.hh"
   3 #include "conf.hh"
   4
   5 const char *program = "gocam_test";
   6
   7 /** The configuration options of the program. */
   8 conf::Config config;
   9 gocam::Analyser analyser;
  10 std::vector<CImgDisplay*> displays;
  11
  12 void
  13 print_usage(FILE *file)
  14 {
  15   fprintf(file, "usage: %s [OPTIONS...] IMAGE\n", program);
  16   fprintf(file, "%s", config.help_string().c_str());
  17 }
  18
  19
  20 void
  21 parse_command_line(int argc, char *argv[])
  22 {
  23   config
  24     ('h', "help", "", "", "display help")
  25     ('i', "intermediate", "", "", "show also intermediate results")
  26     ('s', "save-hough=FILE", "arg", "", "save the hough image")
  27     ('u', "use-hough=FILE", "arg", "", "load a pre-computed hough image")
  28     ('n', "no-display", "", "", "do not display the results")
  29     ('c', "corners", "", "", "print out corner coordinates")
  30     ;
  31   config.parse(argc, argv);
  32   config.check_required();
  33 }
  34
  35 void
  36 draw_grid(CImg<float> &img, float *rgb)
  37 {
  38   for (int s = 0; s < 2; s++) {
  39     for (int l = 0; l < (int)analyser.lines[s].size(); l++) {
  40       geom::Line line = analyser.lines[s][l];
  41       line.add(geom::Point(0.5, 0.5));
  42       img.draw_line((int)line.a.x, (int)line.a.y,
  43                     (int)line.b.x, (int)line.b.y, rgb);
  44     }
  45   }
  46 }
  47
  48 void
  49 dump_grid()
  50 {
  51   for (int s = 0; s < 2; s++) {
  52     printf ("%c: ", "xy"[s]);
  53     for (int l = 0; l < (int)analyser.lines[s].size(); l++) {
  54       geom::Line line = analyser.lines[s][l];
  55       printf("(%d , %d) - (%d - %d)  ",
  56              (int)line.a.x, (int)line.a.y,
  57              (int)line.b.x, (int)line.b.y);
  58     }
  59     printf("\n");
  60   }
  61 }
  62
  63 void
  64 dump_corners()
  65 {
  66   int n = (int)analyser.lines[0].size() - 1;
  67   printf("%f %f %f %f %f %f %f %f\n",
  68          analyser.lines[0][0].b.x, analyser.lines[0][0].b.y,
  69          analyser.lines[0][0].a.x, analyser.lines[0][0].a.y,
  70          analyser.lines[0][n].b.x, analyser.lines[0][n].b.y,
  71          analyser.lines[0][n].a.x, analyser.lines[0][n].a.y);
  72 }
  73
  74 void
  75 analyse_step_by_step()
  76 {
  77   float white[1] = {1};
  78
  79   // We create pointers to CImgDisplay classes instead of using local
  80   // variables, because the CImg library seems to hang if the local
  81   // display classes are destroyed in the end of the function.  FIXME:
  82   // currently we do not even bother to free them, because this is
  83   // just a test program.
  84
  85   analyser.compute_line_images();
  86   new CImgDisplay(analyser.line_image, "The line image");
  87   new CImgDisplay(analyser.weighted_line_image, "The weighted line image");
  88
  89   analyser.compute_hough_image();
  90   new CImgDisplay(analyser.hough_image, "The hough image");
  91
  92   analyser.compute_initial_grid();
  93   analyser.tune_grid();
  94   analyser.fix_end_points();
  95   CImg<float> tmp = analyser.line_image;
  96   draw_grid(tmp, white);
  97   new CImgDisplay(tmp, "The initial grid lines");
  98
  99   while ((int)analyser.lines[0].size() < analyser.board_size ||
 100          (int)analyser.lines[1].size() < analyser.board_size)
 101   {
 102     analyser.add_best_line(0);
 103     analyser.add_best_line(1);
 104     analyser.tune_grid();
 105     tmp = analyser.line_image;
 106     draw_grid(tmp, white);
 107     new CImgDisplay(tmp, "Growing the grid");
 108   }
 109 }
 110
 111 int
 112 main(int argc, char *argv[])
 113 {
 114   cimg::info();
 115
 116   // Parse command line arguments
 117   parse_command_line(argc, argv);
 118   if (config.arguments.empty() || config["help"].specified) {
 119     print_usage(stdout);
 120     exit(0);
 121   }
 122
 123   // Load image file and possible pre-computed hough image
 124   CImg<float> original_image(config.arguments[0].c_str());
 125   original_image.normalize(0, 1);
 126   analyser.reset(original_image);
 127   if (config["use-hough"].specified)
 128     // FIXME: should really find how to use load_png() instead
 129     analyser.hough_image =
 130       CImg<float>::get_load_png(config["use-hough"].value.c_str());
 131
 132   // Analyse the image
 133   analyser.verbose = 1;
 134   if (config["intermediate"].specified)
 135     analyse_step_by_step();
 136   else
 137     analyser.analyse();
 138
 139   // Save the hough image if reguested
 140   if (config['s'].specified)
 141     analyser.hough_image.save_png(config['s'].value.c_str());
 142
 143   if (config["corners"].specified)
 144     dump_corners();
 145
 146   if (config["no-display"].specified)
 147     exit(0);
 148
 149   // Display result
 150   float blue[3] = {0, 0, 1};
 151   draw_grid(original_image, blue);
 152   CImgDisplay display(original_image, "The final analysis");
 153   while (!display.is_closed) {
 154     display.wait(100);
 155     if (display.button)
 156       exit(0);
 157   }
 158 }