test-ColorSegmenter.C

#include "Component/ModelManager.H"

#include "Media/FrameSeries.H"
#include "Transport/FrameIstream.H"
#include "Media/MediaOpts.H"

#include "Image/Image.H"
#include "Image/Pixels.H"
#include "Raster/Raster.H"
#include "Image/CutPaste.H"

#include "BeoSub/IsolateColor.H"
#include "Image/DrawOps.H"
#include "Image/ColorOps.H"

#include "GUI/XWinManaged.H"
#include "SeaBee/PipeRecognizer.H"

#include "ColorSegmenter.H"

int main(const int argc, const char** argv)
{

  MYLOGVERB = LOG_INFO;

  ModelManager manager("PipeRecognizer Tester");

  nub::soft_ref<InputFrameSeries> ifs(new InputFrameSeries(manager));
  manager.addSubComponent(ifs);

  manager.exportOptions(MC_RECURSE);

  // Parse command-line:
  if (manager.parseCommandLine(argc, argv,
                               "[image {*.ppm}]",
                               0, 1)
      == false) return(1);
#ifndef HAVE_OPENCV
  LFATAL("I am useless because I was compiled without OpenCV support...");
#else
  int w = ifs->getWidth(),  h = ifs->getHeight();
  std::string dims = convertToString(Dims(w, h));
  LINFO("image size: [%dx%d]", w, h);
  manager.setOptionValString(&OPT_InputFrameDims, dims);

  manager.setModelParamVal("InputFrameDims", Dims(w, h),
                           MC_RECURSE | MC_IGNORE_MISSING);

  manager.start();

  bool goforever = true;

  rutz::shared_ptr<XWinManaged> dispWin;
  dispWin.reset(new XWinManaged(Dims(w*2,h*2), 0, 0, "Pipe Recognizer Display"));

  // input and output image

  Image< PixRGB<byte> > img(w,h, ZEROS);

//   rutz::shared_ptr<Image<byte> > orangeIsoImage;
//   orangeIsoImage.reset(new Image<byte>(w,h, ZEROS));

  //  rutz::shared_ptr<Image< PixRGB<byte> > > outputImg(new Image<PixRGB<byte> >(w,h, ZEROS));

  rutz::shared_ptr<PipeRecognizer> pipeRecognizer(new PipeRecognizer());
  rutz::shared_ptr<Point2D<int> > pipeCenter(new Point2D<int>(0,0));

  Point2D<int> projPoint(Point2D<int>(0,0));
  rutz::shared_ptr<double> pipeAngle(new double);


  //create a colorsegmeter class to test it
  ColorSegmenter colorSegmenter;
  colorSegmenter.setupColorSegmenter("Orange",false);//color,debug
  uint fNum = 0;
  while(goforever)
    {
      Image< PixRGB<byte> > dispImg(w*2,h*2, ZEROS);
      rutz::shared_ptr<Image< PixRGB<byte> > > outputImg(new Image<PixRGB<byte> >(w,h, ZEROS));

      rutz::shared_ptr<Image<byte> > orangeIsoImage;
      orangeIsoImage.reset(new Image<byte>(w,h, ZEROS));

      ifs->updateNext(); img = ifs->readRGB();
      if(!img.initialized()) {Raster::waitForKey(); break; }

      inplacePaste(dispImg, img, Point2D<int>(0,0));

      orangeIsoImage->resize(w,h);
      isolateOrange(img, *orangeIsoImage);
      inplacePaste(dispImg, toRGB(*orangeIsoImage), Point2D<int>(w,h));


        //try calling the colorsegmenter class
      colorSegmenter.isolateOrange(img, *orangeIsoImage);
      inplacePaste(dispImg, toRGB(*orangeIsoImage), Point2D<int>(w,0));

//       pipeRecognizer->getPipeLocation(orangeIsoImage,
//                                       outputImg,
//                                       PipeRecognizer::HOUGH,
//                                       pipeCenter,
//                                       pipeAngle);

      projPoint.i = (int)(pipeCenter->i+30*cos(*pipeAngle));
      projPoint.j = (int)(pipeCenter->j+30*sin(*pipeAngle));

      drawLine(*outputImg, *pipeCenter, projPoint, PixRGB <byte> (255, 255,0), 3);

      inplacePaste(dispImg, *outputImg, Point2D<int>(0,h));

      dispWin->drawImage(dispImg, 0, 0);
      LINFO("%d",fNum); fNum++;

      //wait a little
      Raster::waitForKey();
    }
#endif

  // get ready to terminate:
  manager.stop();
  return 0;
}