Visual Servoing Platform version 3.5.0
trackMeCircle.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 * Tracking of an ellipse.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
51#include <visp3/core/vpConfig.h>
52
53#include <iomanip>
54#include <sstream>
55#include <stdio.h>
56#include <stdlib.h>
57
58#if defined(VISP_HAVE_MODULE_ME) && \
59 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
60
61#include <visp3/core/vpColor.h>
62#include <visp3/core/vpImage.h>
63#include <visp3/gui/vpDisplayGDI.h>
64#include <visp3/gui/vpDisplayGTK.h>
65#include <visp3/gui/vpDisplayOpenCV.h>
66#include <visp3/gui/vpDisplayX.h>
67#include <visp3/io/vpImageIo.h>
68
69#include <visp3/core/vpIoTools.h>
70#include <visp3/io/vpParseArgv.h>
71#include <visp3/me/vpMeEllipse.h>
72
73// List of allowed command line options
74#define GETOPTARGS "cdi:h"
75
76void usage(const char *name, const char *badparam, std::string ipath);
77bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
78
88void usage(const char *name, const char *badparam, std::string ipath)
89{
90 fprintf(stdout, "\n\
91Test auto detection of dots using vpDot2.\n\
92\n\
93SYNOPSIS\n\
94 %s [-i <input image path>] [-c] [-d] [-h]\n", name);
95
96 fprintf(stdout, "\n\
97OPTIONS: Default\n\
98 -i <input image path> %s\n\
99 Set image input path.\n\
100 From this path read \"circle/circle.pgm\"\n\
101 image. \n\
102 Setting the VISP_INPUT_IMAGE_PATH environment\n\
103 variable produces the same behaviour than using\n\
104 this option.\n\
105\n\
106 -c\n\
107 Disable the mouse click. Useful to automaze the \n\
108 execution of this program without humain intervention.\n\
109\n\
110 -d \n\
111 Turn off the display.\n\
112\n\
113 -h\n\
114 Print the help.\n", ipath.c_str());
115
116 if (badparam)
117 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
118}
132bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
133{
134 const char *optarg_;
135 int c;
136 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
137
138 switch (c) {
139 case 'c':
140 click_allowed = false;
141 break;
142 case 'd':
143 display = false;
144 break;
145 case 'i':
146 ipath = optarg_;
147 break;
148 case 'h':
149 usage(argv[0], NULL, ipath);
150 return false;
151 break;
152
153 default:
154 usage(argv[0], optarg_, ipath);
155 return false;
156 break;
157 }
158 }
159
160 if ((c == 1) || (c == -1)) {
161 // standalone param or error
162 usage(argv[0], NULL, ipath);
163 std::cerr << "ERROR: " << std::endl;
164 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
165 return false;
166 }
167
168 return true;
169}
170
171int main(int argc, const char **argv)
172{
173#if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)
174 try {
175 std::string env_ipath;
176 std::string opt_ipath;
177 std::string ipath;
178 std::string dirname;
179 std::string filename;
180 bool opt_click_allowed = true;
181 bool opt_display = true;
182
183 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
184 // environment variable value
186
187 // Set the default input path
188 if (!env_ipath.empty())
189 ipath = env_ipath;
190
191 // Read the command line options
192 if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
193 exit(-1);
194 }
195
196 // Get the option values
197 if (!opt_ipath.empty())
198 ipath = opt_ipath;
199
200 // Compare ipath and env_ipath. If they differ, we take into account
201 // the input path comming from the command line option
202 if (!opt_ipath.empty() && !env_ipath.empty()) {
203 if (ipath != env_ipath) {
204 std::cout << std::endl << "WARNING: " << std::endl;
205 std::cout << " Since -i <visp image path=" << ipath << "> "
206 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
207 << " we skip the environment variable." << std::endl;
208 }
209 }
210
211 // Test if an input path is set
212 if (opt_ipath.empty() && env_ipath.empty()) {
213 usage(argv[0], NULL, ipath);
214 std::cerr << std::endl << "ERROR:" << std::endl;
215 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
216 << " environment variable to specify the location of the " << std::endl
217 << " image path where test images are located." << std::endl
218 << std::endl;
219 exit(-1);
220 }
221
222 // Declare an image, this is a gray level image (unsigned char)
223 // it size is not defined yet, it will be defined when the image will
224 // read on the disk
226
227 // Set the path location of the image sequence
228 dirname = vpIoTools::createFilePath(ipath, "circle");
229
230 // Build the name of the image file
231 filename = vpIoTools::createFilePath(dirname, "circle.pgm");
232
233 // Read the PGM image named "filename" on the disk, and put the
234 // bitmap into the image structure I. I is initialized to the
235 // correct size
236 //
237 // exception readPGM may throw various exception if, for example,
238 // the file does not exist, or if the memory cannot be allocated
239 try {
240 vpCTRACE << "Load: " << filename << std::endl;
241
242 vpImageIo::read(I, filename);
243 } catch (...) {
244 // an exception is throwned if an exception from readPGM has been
245 // catched here this will result in the end of the program Note that
246 // another error message has been printed from readPGM to give more
247 // information about the error
248 std::cerr << std::endl << "ERROR:" << std::endl;
249 std::cerr << " Cannot read " << filename << std::endl;
250 std::cerr << " Check your -i " << ipath << " option " << std::endl
251 << " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
252 exit(-1);
253 }
254
255// We open a window using either X11, GTK or GDI.
256#if defined VISP_HAVE_X11
257 vpDisplayX display;
258#elif defined VISP_HAVE_GTK
259 vpDisplayGTK display;
260#elif defined VISP_HAVE_GDI
261 vpDisplayGDI display;
262#elif defined VISP_HAVE_OPENCV
263 vpDisplayOpenCV display;
264#endif
265
266 if (opt_display) {
267 // Display size is automatically defined by the image (I) size
268 display.init(I, 100, 100, "Display...");
269 // Display the image
270 // The image class has a member that specify a pointer toward
271 // the display that has been initialized in the display declaration
272 // therefore is is no longuer necessary to make a reference to the
273 // display variable.
276 }
277
278 vpMeEllipse E1;
279
280 vpMe me;
281 me.setRange(20);
282 me.setSampleStep(2);
283 me.setThreshold(15000);
284
285 E1.setMe(&me);
287 // If click is allowed, wait for a mouse click to select the points
288 // on the ellipse
289 if (opt_display && opt_click_allowed) {
290 E1.initTracking(I);
291 } else {
292 // Create a list of points to automate the test
293 std::vector<vpImagePoint> ip;
294 ip.push_back(vpImagePoint(78, 203));
295 ip.push_back(vpImagePoint(62, 125));
296 ip.push_back(vpImagePoint(128, 101));
297 ip.push_back(vpImagePoint(167, 147));
298 ip.push_back(vpImagePoint(147, 200));
299
300 E1.initTracking(I, ip);
301 }
302
303 if (opt_display) {
304 E1.display(I, vpColor::green);
306 }
307
308 vpTRACE("sample step %f ", E1.getMe()->getSampleStep());
309 std::cout << "Tracking on image: " << filename << std::endl;
310 E1.track(I);
311 if (opt_display) {
313 }
314
315 if (opt_display && opt_click_allowed) {
316 std::cout << "A click to exit..." << std::endl;
318 }
319 std::cout << "------------------------------------------------------------" << std::endl;
320 return EXIT_SUCCESS;
321 } catch (const vpException &e) {
322 std::cout << "Catch an exception: " << e << std::endl;
323 return EXIT_FAILURE;
324 }
325#else
326 (void)argc;
327 (void)argv;
328 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
329#endif
330}
331#else
332#include <iostream>
333
334int main()
335{
336 std::cout << "visp_me module or X11, GTK, GDI or OpenCV display "
337 "functionalities are required..."
338 << std::endl;
339 return EXIT_SUCCESS;
340}
341
342#endif
static const vpColor green
Definition: vpColor.h:220
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
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
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)
error that can be emited by ViSP classes.
Definition: vpException.h:72
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
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
Class that tracks an ellipse using moving edges.
Definition: vpMeEllipse.h:98
void display(const vpImage< unsigned char > &I, vpColor col)
void initTracking(const vpImage< unsigned char > &I, bool trackArc=false)
void track(const vpImage< unsigned char > &I)
@ RANGE_RESULT
Definition: vpMeSite.h:74
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:152
vpMe * getMe()
Definition: vpMeTracker.h:120
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:173
Definition: vpMe.h:61
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
double getSampleStep() const
Definition: vpMe.h:285
void setThreshold(const double &t)
Definition: vpMe.h:300
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
#define vpCTRACE
Definition: vpDebug.h:338
#define vpTRACE
Definition: vpDebug.h:416