Visual Servoing Platform version 3.5.0
trackMeNurbs.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 a nurbs.
33 *
34 * Authors:
35 * Nicolas Melchior
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
52#include <visp3/core/vpConfig.h>
53#include <visp3/core/vpDebug.h>
54
55#include <iomanip>
56#include <sstream>
57#include <stdio.h>
58#include <stdlib.h>
59
60#if defined(VISP_HAVE_MODULE_ME) && \
61 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
62
63#include <visp3/core/vpColor.h>
64#include <visp3/core/vpImage.h>
65#include <visp3/core/vpImagePoint.h>
66#include <visp3/gui/vpDisplayGDI.h>
67#include <visp3/gui/vpDisplayGTK.h>
68#include <visp3/gui/vpDisplayOpenCV.h>
69#include <visp3/gui/vpDisplayX.h>
70#include <visp3/io/vpImageIo.h>
71
72#include <visp3/core/vpIoTools.h>
73#include <visp3/io/vpParseArgv.h>
74#include <visp3/io/vpVideoReader.h>
75#include <visp3/me/vpMeNurbs.h>
76
77// List of allowed command line options
78#define GETOPTARGS "cdi:h"
79
80void usage(const char *name, const char *badparam, std::string ipath);
81bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
82
92void usage(const char *name, const char *badparam, std::string ipath)
93{
94 fprintf(stdout, "\n\
95Tracking of a nurbs using vpMe.\n\
96\n\
97SYNOPSIS\n\
98 %s [-i <input image path>] [-c] [-d] [-h]\n", name);
99
100 fprintf(stdout, "\n\
101OPTIONS: Default\n\
102 -i <input image path> %s\n\
103 Set image input path.\n\
104 From this path read images \n\
105 \"ellipse-1/image.%%04d.pgm\"\n\
106 Setting the VISP_INPUT_IMAGE_PATH environment\n\
107 variable produces the same behaviour than using\n\
108 this option.\n\
109\n\
110 -c\n\
111 Disable the mouse click. Useful to automaze the \n\
112 execution of this program without humain intervention.\n\
113\n\
114 -d \n\
115 Turn off the display.\n\
116\n\
117 -h\n\
118 Print the help.\n", ipath.c_str());
119
120 if (badparam)
121 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
122}
136bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
137{
138 const char *optarg_;
139 int c;
140 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
141
142 switch (c) {
143 case 'c':
144 click_allowed = false;
145 break;
146 case 'd':
147 display = false;
148 break;
149 case 'i':
150 ipath = optarg_;
151 break;
152 case 'h':
153 usage(argv[0], NULL, ipath);
154 return false;
155 break;
156
157 default:
158 usage(argv[0], optarg_, ipath);
159 return false;
160 break;
161 }
162 }
163
164 if ((c == 1) || (c == -1)) {
165 // standalone param or error
166 usage(argv[0], NULL, ipath);
167 std::cerr << "ERROR: " << std::endl;
168 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
169 return false;
170 }
171
172 return true;
173}
174
175int main(int argc, const char **argv)
176{
177 try {
178 std::string env_ipath;
179 std::string opt_ipath;
180 std::string ipath;
181 std::string filename;
182 bool opt_click_allowed = true;
183 bool opt_display = true;
184
185 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
186 // environment variable value
188
189 // Set the default input path
190 if (!env_ipath.empty())
191 ipath = env_ipath;
192
193 // Read the command line options
194 if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
195 exit(-1);
196 }
197
198 // Get the option values
199 if (!opt_ipath.empty())
200 ipath = opt_ipath;
201
202 // Compare ipath and env_ipath. If they differ, we take into account
203 // the input path comming from the command line option
204 if (!opt_ipath.empty() && !env_ipath.empty()) {
205 if (ipath != env_ipath) {
206 std::cout << std::endl << "WARNING: " << std::endl;
207 std::cout << " Since -i <visp image path=" << ipath << "> "
208 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
209 << " we skip the environment variable." << std::endl;
210 }
211 }
212
213 // Test if an input path is set
214 if (opt_ipath.empty() && env_ipath.empty()) {
215 usage(argv[0], NULL, ipath);
216 std::cerr << std::endl << "ERROR:" << std::endl;
217 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
218 << " environment variable to specify the location of the " << std::endl
219 << " image path where test images are located." << std::endl
220 << std::endl;
221 exit(-1);
222 }
223
224 // Declare an image, this is a gray level image (unsigned char)
225 // it size is not defined yet, it will be defined when the image is
226 // read on the disk
228
229 // Set the path location of the image sequence
230 filename = vpIoTools::createFilePath(ipath, "ellipse-1/image.%04d.pgm");
231
232 // Build the name of the image file
233 vpVideoReader reader;
234 // Initialize the reader and get the first frame.
235 reader.setFileName(filename.c_str());
236 reader.setFirstFrameIndex(1);
237 reader.open(I);
238
239// We open a window using either X11, GTK or GDI.
240#if defined VISP_HAVE_X11
241 vpDisplayX display;
242#elif defined VISP_HAVE_GTK
243 vpDisplayGTK display;
244#elif defined VISP_HAVE_GDI
245 vpDisplayGDI display;
246#elif defined VISP_HAVE_OPENCV
247 vpDisplayOpenCV display;
248#endif
249
250 if (opt_display) {
251 // Display size is automatically defined by the image (I) size
252 display.init(I, 100, 100, "Display...");
253 // Display the image
254 // The image class has a member that specify a pointer toward
255 // the display that has been initialized in the display declaration
256 // therefore is is no longuer necessary to make a reference to the
257 // display variable.
260 }
261
262 vpMeNurbs nurbs;
263
264 vpMe me;
265 me.setRange(30);
266 me.setSampleStep(5);
267 me.setPointsToTrack(60);
268 me.setThreshold(15000);
269
270 nurbs.setMe(&me);
272 nurbs.setNbControlPoints(14);
273
274 if (opt_click_allowed) {
275 std::cout << "Click on points along the edge with the left button." << std::endl;
276 std::cout << "Then click on the right button to continue." << std::endl;
277 nurbs.initTracking(I);
278 } else {
279 // Create a list of points to automate the test
280 std::list<vpImagePoint> list;
281 list.push_back(vpImagePoint(178, 357));
282 list.push_back(vpImagePoint(212, 287));
283 list.push_back(vpImagePoint(236, 210));
284 list.push_back(vpImagePoint(240, 118));
285 list.push_back(vpImagePoint(210, 40));
286
287 nurbs.initTracking(I, list);
288 }
289 if (opt_display) {
290 nurbs.display(I, vpColor::green);
291 }
292
293 nurbs.track(I);
294 if (opt_display && opt_click_allowed) {
295 std::cout << "A click to continue..." << std::endl;
297 }
298 std::cout << "------------------------------------------------------------" << std::endl;
299
300 for (int iter = 1; iter < 40; iter++) {
301 // read the image
302 reader.getFrame(I, iter);
303 if (opt_display) {
304 // Display the image
306 }
307
308 // Track the nurbs
309 nurbs.track(I);
310
311 if (opt_display) {
312 nurbs.display(I, vpColor::green);
314 vpTime::wait(100);
315 }
316 }
317 if (opt_display && opt_click_allowed) {
318 std::cout << "A click to exit..." << std::endl;
320 }
321 return 0;
322 } catch (vpException &e) {
323 std::cout << "Catch an exception: " << e.getMessage() << std::endl;
324 return 0;
325 }
326}
327#else
328#include <iostream>
329
330int main()
331{
332 std::cout << "visp_me module or X11, GTK, GDI or OpenCV display "
333 "functionalities are required..."
334 << std::endl;
335}
336
337#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
const char * getMessage() const
Definition: vpException.cpp:90
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 in an image a edge defined by a Nurbs.
Definition: vpMeNurbs.h:131
void track(const vpImage< unsigned char > &I)
Definition: vpMeNurbs.cpp:972
void initTracking(const vpImage< unsigned char > &I)
Definition: vpMeNurbs.cpp:248
void setNbControlPoints(unsigned int nb_point)
Definition: vpMeNurbs.h:169
void display(const vpImage< unsigned char > &I, vpColor col)
Definition: vpMeNurbs.cpp:1028
@ RANGE_RESULT
Definition: vpMeSite.h:74
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:152
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
void setPointsToTrack(const int &n)
Definition: vpMe.h:264
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
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
void setFirstFrameIndex(const long first_frame)
bool getFrame(vpImage< vpRGBa > &I, long frame)
VISP_EXPORT int wait(double t0, double t)