Visual Servoing Platform version 3.5.0
testTrackDot.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test auto detection of dots.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
40#include <iomanip>
41#include <sstream>
42#include <stdio.h>
43#include <stdlib.h>
44#include <visp3/core/vpConfig.h>
45#include <visp3/core/vpDebug.h>
46#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
47
48#include <visp3/blob/vpDot2.h>
49#include <visp3/core/vpCameraParameters.h>
50#include <visp3/core/vpImage.h>
51#include <visp3/core/vpIoTools.h>
52#include <visp3/gui/vpDisplayGDI.h>
53#include <visp3/gui/vpDisplayGTK.h>
54#include <visp3/gui/vpDisplayX.h>
55#include <visp3/io/vpImageIo.h>
56#include <visp3/io/vpParseArgv.h>
57#ifdef VISP_HAVE_MODULE_FEATURES
58#include <visp3/visual_features/vpFeatureBuilder.h>
59#include <visp3/visual_features/vpFeatureEllipse.h>
60#endif
61
68// List of allowed command line options
69#define GETOPTARGS "cdi:h"
70
71bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
72
73void usage(const char *name, const char *badparam, std::string ipath);
83void usage(const char *name, const char *badparam, std::string ipath)
84{
85 fprintf(stdout, "\n\
86Test dot tracking.\n\
87\n\
88SYNOPSIS\n\
89 %s [-i <input image path>] [-c] [-d] [-h]\n", name);
90
91 fprintf(stdout, "\n\
92OPTIONS: Default\n\
93 -i <input image path> %s\n\
94 Set image input path.\n\
95 From this path read image \n\
96 \"ellipse/ellipse.pgm\"\n\
97 Setting the VISP_INPUT_IMAGE_PATH environment\n\
98 variable produces the same behaviour than using\n\
99 this option.\n\
100\n\
101 -c\n\
102 Disable the mouse click. Useful to automaze the \n\
103 execution of this program without humain intervention.\n\
104\n\
105 -d \n\
106 Turn off the display.\n\
107\n\
108 -h\n\
109 Print the help.\n", ipath.c_str());
110
111 if (badparam)
112 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
113}
126bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
127{
128 const char *optarg_;
129 int c;
130 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
131
132 switch (c) {
133 case 'c':
134 click_allowed = false;
135 break;
136 case 'd':
137 display = false;
138 break;
139 case 'i':
140 ipath = optarg_;
141 break;
142 case 'h':
143 usage(argv[0], NULL, ipath);
144 return false;
145 break;
146
147 default:
148 usage(argv[0], optarg_, ipath);
149 return false;
150 break;
151 }
152 }
153
154 if ((c == 1) || (c == -1)) {
155 // standalone param or error
156 usage(argv[0], NULL, ipath);
157 std::cerr << "ERROR: " << std::endl;
158 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
159 return false;
160 }
161
162 return true;
163}
164
165int main(int argc, const char **argv)
166{
167 try {
168 std::string env_ipath;
169 std::string opt_ipath;
170 std::string ipath;
171 std::string dirname;
172 std::string filename;
173 bool opt_click_allowed = true;
174 bool opt_display = true;
175
176 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
177 // environment variable value
179
180 // Set the default input path
181 if (!env_ipath.empty())
182 ipath = env_ipath;
183
184 // Read the command line options
185 if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
186 exit(-1);
187 }
188
189 // Get the option values
190 if (!opt_ipath.empty())
191 ipath = opt_ipath;
192
193 // Compare ipath and env_ipath. If they differ, we take into account
194 // the input path comming from the command line option
195 if (!opt_ipath.empty() && !env_ipath.empty()) {
196 if (ipath != env_ipath) {
197 std::cout << std::endl << "WARNING: " << std::endl;
198 std::cout << " Since -i <visp image path=" << ipath << "> "
199 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
200 << " we skip the environment variable." << std::endl;
201 }
202 }
203
204 // Test if an input path is set
205 if (opt_ipath.empty() && env_ipath.empty()) {
206 usage(argv[0], NULL, ipath);
207 std::cerr << std::endl << "ERROR:" << std::endl;
208 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
209 << " environment variable to specify the location of the " << std::endl
210 << " image path where test images are located." << std::endl
211 << std::endl;
212 exit(-1);
213 }
214
215 // Declare an image, this is a gray level image (unsigned char)
216 // it size is not defined yet, it will be defined when the image will
217 // read on the disk
219
220 // Set the path location of the image sequence
221 dirname = vpIoTools::createFilePath(ipath, "ellipse");
222
223 // Build the name of the image file
224 filename = vpIoTools::createFilePath(dirname, "ellipse.pgm");
225
226 // Read the PGM image named "filename" on the disk, and put the
227 // bitmap into the image structure I. I is initialized to the
228 // correct size
229 //
230 // exception readPGM may throw various exception if, for example,
231 // the file does not exist, or if the memory cannot be allocated
232 try {
233 vpCTRACE << "Load: " << filename << std::endl;
234
235 vpImageIo::read(I, filename);
236 } catch (...) {
237 // an exception is throwned if an exception from readPGM has been
238 // catched here this will result in the end of the program Note that
239 // another error message has been printed from readPGM to give more
240 // information about the error
241 std::cerr << std::endl << "ERROR:" << std::endl;
242 std::cerr << " Cannot read " << filename << std::endl;
243 std::cerr << " Check your -i " << ipath << " option " << std::endl
244 << " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
245 exit(-1);
246 }
247
248// We open a window using either X11, GTK or GDI.
249#if defined VISP_HAVE_X11
250 vpDisplayX display;
251#elif defined VISP_HAVE_GTK
252 vpDisplayGTK display;
253#elif defined VISP_HAVE_GDI
254 vpDisplayGDI display;
255#endif
256
257 if (opt_display) {
258 // Display size is automatically defined by the image (I) size
259 display.init(I, 100, 100, "Display...");
260 // Display the image
261 // The image class has a member that specify a pointer toward
262 // the display that has been initialized in the display declaration
263 // therefore is is no longuer necessary to make a reference to the
264 // display variable.
266 // Flush the display
268 }
269
270 vpDot2 dot;
271 std::cout << "debut 1\n";
272 // dot.setMaxDotSize(0.50); // dot max size = 50% of the image size
273 vpImagePoint ip;
274 ip.set_i(140);
275 ip.set_j(140);
276 dot.initTracking(I, ip);
277 if (opt_display) {
278 dot.setGraphics(true);
279 } else {
280 dot.setGraphics(false);
281 }
282 dot.setComputeMoments(true);
283 dot.track(I);
284
286
287#ifdef VISP_HAVE_MODULE_FEATURES
289 vpFeatureBuilder::create(e, cam, dot);
290#endif
291 if (opt_display) {
292#ifdef VISP_HAVE_MODULE_FEATURES
293 e.display(cam, I, vpColor::red);
294#endif
296 if (opt_click_allowed) {
297 std::cout << "A click to exit..." << std::endl;
299 }
300 }
301 return 0;
302 } catch (const vpException &e) {
303 std::cout << "Catch an exception: " << e.getMessage() << std::endl;
304 return 1;
305 }
306}
307#else
308int main() { vpERROR_TRACE("You do not have X11, GTK or GDI display functionalities..."); }
309
310#endif
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:127
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
Definition: vpDot2.cpp:441
void setGraphics(bool activate)
Definition: vpDot2.h:314
void setComputeMoments(bool activate)
Definition: vpDot2.h:276
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Definition: vpDot2.cpp:253
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * getMessage() const
Definition: vpException.cpp:90
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines 2D ellipse visual feature.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
void set_j(double jj)
Definition: vpImagePoint.h:177
void set_i(double ii)
Definition: vpImagePoint.h:166
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
#define vpCTRACE
Definition: vpDebug.h:338
#define vpERROR_TRACE
Definition: vpDebug.h:393