/* +---------------------------------------------------------------------------+ | The Mobile Robot Programming Toolkit (MRPT) C++ library | | | | http://www.mrpt.org/ | | | | Copyright (C) 2005-2011 University of Malaga | | | | This software was written by the Machine Perception and Intelligent | | Robotics Lab, University of Malaga (Spain). | | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | | | | This file is part of the MRPT project. | | | | MRPT is free software: you can redistribute it and/or modify | | it under the terms of the GNU General Public License as published by | | the Free Software Foundation, either version 3 of the License, or | | (at your option) any later version. | | | | MRPT is distributed in the hope that it will be useful, | | but WITHOUT ANY WARRANTY; without even the implied warranty of | | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | | GNU General Public License for more details. | | | | You should have received a copy of the GNU General Public License | | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | | | +---------------------------------------------------------------------------+ */ #include <mrpt/base.h> #include <mrpt/vision.h> #include <mrpt/gui.h> using namespace std; using namespace mrpt; using namespace mrpt::utils; using namespace mrpt::gui; #include <mrpt/examples_config.h> std::string myDataDir = MRPT_EXAMPLES_BASE_DIRECTORY + string("checkerboardDetectors/"); // ------------------------------------------------------ // 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()) { mrpt::system::sleep(10); } } // ------------------------------------------------------ // 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; } }