/* +---------------------------------------------------------------------------+ | 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/gui.h> #include <mrpt/utils.h> using namespace mrpt; using namespace mrpt::gui; using namespace mrpt::math; using namespace mrpt::utils; using namespace std; #include <mrpt/examples_config.h> string myDataDir( MRPT_EXAMPLES_BASE_DIRECTORY + string("imageBasics/") ); // ------------------------------------------------------ // 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; } }