Visual Servoing Platform version 3.5.0
imageSequenceReader.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 * Reading an image sequence.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
49#include <visp3/core/vpDebug.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/vpDisplayOpenCV.h>
55#include <visp3/gui/vpDisplayX.h>
56#include <visp3/io/vpImageIo.h>
57#include <visp3/io/vpParseArgv.h>
58#include <visp3/io/vpVideoReader.h>
59
60#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GTK)
61
62// List of allowed command line options
63#define GETOPTARGS "cdi:p:f:h"
64
65void usage(const char *name, const char *badparam, std::string ipath, std::string ppath);
66bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, int &first, bool &click_allowed,
67 bool &display);
68
79void usage(const char *name, const char *badparam, std::string ipath, std::string ppath)
80{
81 fprintf(stdout, "\n\
82Read an image sequence on the disk.\n\
83\n\
84SYNOPSIS\n\
85 %s [-i <input images path>] [-p <personal image sequence path>]\n\
86 [-c][-d][-h]\n \
87", name);
88
89 fprintf(stdout, "\n\
90OPTIONS: Default\n\
91 -i <input images path> %s\n\
92 Set ViSP-images input path.\n\
93 From this path read \"cube/image.%%04d.pgm\"\n\
94 images.\n\
95 Setting the VISP_INPUT_IMAGE_PATH environment\n\
96 variable produces the same behaviour than using\n\
97 this option.\n\
98\n\
99 -p <personal image sequence path> %s\n\
100 Specify a personal folder containing an image sequence \n\
101 to process.\n\
102 Example : \"/Temp/ViSP-images/cube/image.%%04d.pgm\"\n\
103 %%04d is for the image numbering.\n\
104\n\
105 -f <index of the first frame> \n\
106 Specify the first image index.\n\
107\n\
108 -c\n\
109 Disable the mouse click. Useful to automaze the \n\
110 execution of this program without humain intervention.\n\
111\n\
112 -d \n\
113 Turn off the display.\n\
114\n\
115 -h\n\
116 Print the help.\n\n", ipath.c_str(), ppath.c_str());
117
118 if (badparam) {
119 fprintf(stderr, "ERROR: \n");
120 fprintf(stderr, "\nBad parameter [%s]\n", badparam);
121 }
122}
137bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, int &first, bool &click_allowed,
138 bool &display)
139{
140 const char *optarg_;
141 int c;
142 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
143
144 switch (c) {
145 case 'c':
146 click_allowed = false;
147 break;
148 case 'd':
149 display = false;
150 break;
151 case 'i':
152 ipath = optarg_;
153 break;
154 case 'p':
155 ppath = optarg_;
156 break;
157 case 'f':
158 first = atoi(optarg_);
159 break;
160 case 'h':
161 usage(argv[0], NULL, ipath, ppath);
162 return false;
163 break;
164
165 default:
166 usage(argv[0], optarg_, ipath, ppath);
167 return false;
168 break;
169 }
170 }
171
172 if ((c == 1) || (c == -1)) {
173 // standalone param or error
174 usage(argv[0], NULL, ipath, ppath);
175 std::cerr << "ERROR: " << std::endl;
176 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
177 return false;
178 }
179
180 return true;
181}
182
183int main(int argc, const char **argv)
184{
185 try {
186 std::string env_ipath;
187 std::string opt_ipath;
188 std::string ipath;
189 std::string opt_ppath;
190 std::string filename;
191 int opt_first = 1;
192 bool opt_click_allowed = true;
193 bool opt_display = true;
194
195 std::cout << "-------------------------------------------------------" << std::endl;
196 std::cout << " videoImageSequenceReader.cpp" << std::endl << std::endl;
197
198 std::cout << " reading an image sequence" << std::endl;
199 std::cout << "-------------------------------------------------------" << std::endl;
200 std::cout << std::endl;
201
202 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
203 // environment variable value
205
206 // Set the default input path
207 if (!env_ipath.empty())
208 ipath = env_ipath;
209
210 // Read the command line options
211 if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_click_allowed, opt_display) == false) {
212 exit(-1);
213 }
214
215 // Get the option values
216 if (!opt_ipath.empty())
217 ipath = opt_ipath;
218
219 // Compare ipath and env_ipath. If they differ, we take into account
220 // the input path comming from the command line option
221 if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
222 if (ipath != env_ipath) {
223 std::cout << std::endl << "WARNING: " << std::endl;
224 std::cout << " Since -i <visp image path=" << ipath << "> "
225 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
226 << " we skip the environment variable." << std::endl;
227 }
228 }
229
230 // Test if an input path is set
231 if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()) {
232 usage(argv[0], NULL, ipath, opt_ppath);
233 std::cerr << std::endl << "ERROR:" << std::endl;
234 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
235 << " environment variable to specify the location of the " << std::endl
236 << " video path where test images are located." << std::endl
237 << std::endl;
238 exit(-1);
239 }
240
242
243 // vpImage is a template class you can declare vpImage of ...
244 // everything...
246
247 // Create the video Reader
248 vpVideoReader reader;
249
250 if (opt_ppath.empty()) {
251 filename = vpIoTools::createFilePath(ipath, "mire-2/image.%04d.pgm");
252 } else {
253 filename.assign(opt_ppath);
254 }
255
256 // Initialize the reader and get the first frame.
257 reader.setFileName(filename);
258 reader.setFirstFrameIndex(opt_first);
259 reader.open(I);
260 std::cout << "Current image number: " << reader.getFrameIndex() << std::endl;
261 if ((opt_first) != reader.getFrameIndex()) {
262 std::cout << "Unable to get requested image number: " << opt_first << std::endl;
263 return EXIT_FAILURE;
264 }
265
266// We open a window using either X11, GTK, GDI or OpenCV.
267#if defined VISP_HAVE_X11
268 vpDisplayX display;
269#elif defined VISP_HAVE_GTK
270 vpDisplayGTK display;
271#elif defined VISP_HAVE_GDI
272 vpDisplayGDI display;
273#elif defined VISP_HAVE_OPENCV
274 vpDisplayOpenCV display;
275#endif
276
277 if (opt_display) {
278 // Display size is automatically defined by the image (I) size
279 display.init(I, 100, 100, "Display video frame");
282 }
283
284 if (opt_display && opt_click_allowed) {
285 std::cout << "Click in the image to read and display the second frame" << std::endl;
287 }
288
289 reader.getFrame(I, opt_first + 1);
290 std::cout << "Current image number (should be " << opt_first + 1 << "): " << reader.getFrameIndex() << std::endl;
291 if ((opt_first + 1) != reader.getFrameIndex()) {
292 std::cout << "Unable to get requested image number: " << opt_first + 1 << std::endl;
293 return EXIT_FAILURE;
294 }
295
296 if (opt_display) {
299 }
300
301 if (opt_display && opt_click_allowed) {
302 std::cout << "Click on the image to read and display the last frame" << std::endl;
304 }
305
306 reader.getFrame(I, reader.getLastFrameIndex());
307 std::cout << "Current image number (should be " << reader.getLastFrameIndex() << "): " << reader.getFrameIndex()
308 << std::endl;
309
310 if (opt_display) {
313 }
314
315 if (opt_display && opt_click_allowed) {
316 std::cout << "Click to see the video" << std::endl;
318 }
319
320 int lastFrame = reader.getLastFrameIndex();
321
322 for (int i = opt_first; i <= lastFrame; i++) {
323 reader.getFrame(I, i);
324 std::cout << "Current image number: " << reader.getFrameIndex() << std::endl;
325 if (opt_display) {
328 }
329 }
330
331 if (opt_display && opt_click_allowed) {
332 std::cout << "Click to exit the test" << std::endl;
334 }
335
336 return EXIT_SUCCESS;
337 } catch (const vpException &e) {
338 std::cout << "Catch an exception: " << e << std::endl;
339 return EXIT_FAILURE;
340 }
341}
342#else
343int main()
344{
345 std::cout << "Sorry, no display is available. We quit this example." << std::endl;
346 return EXIT_SUCCESS;
347}
348#endif
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 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
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
long getLastFrameIndex()
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
void setFirstFrameIndex(const long first_frame)
bool getFrame(vpImage< vpRGBa > &I, long frame)
long getFrameIndex() const