Visual Servoing Platform version 3.6.0
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trackMeNurbs.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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*****************************************************************************/
35
48#include <visp3/core/vpConfig.h>
49#include <visp3/core/vpDebug.h>
50
51#include <iomanip>
52#include <sstream>
53#include <stdio.h>
54#include <stdlib.h>
55
56#if defined(VISP_HAVE_MODULE_ME) && \
57 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
58
59#include <visp3/core/vpColor.h>
60#include <visp3/core/vpImage.h>
61#include <visp3/core/vpImagePoint.h>
62#include <visp3/gui/vpDisplayGDI.h>
63#include <visp3/gui/vpDisplayGTK.h>
64#include <visp3/gui/vpDisplayOpenCV.h>
65#include <visp3/gui/vpDisplayX.h>
66#include <visp3/io/vpImageIo.h>
67
68#include <visp3/core/vpIoTools.h>
69#include <visp3/io/vpParseArgv.h>
70#include <visp3/io/vpVideoReader.h>
71#include <visp3/me/vpMeNurbs.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#if VISP_HAVE_DATASET_VERSION >= 0x030600
91 std::string ext("png");
92#else
93 std::string ext("pgm");
94#endif
95 fprintf(stdout, "\n\
96Tracking of a nurbs using vpMe.\n\
97\n\
98SYNOPSIS\n\
99 %s [-i <input image path>] [-c] [-d] [-h]\n",
100 name);
101
102 fprintf(stdout, "\n\
103OPTIONS: Default\n\
104 -i <input image path> %s\n\
105 Set image input path.\n\
106 From this path read images \n\
107 \"ellipse-1/image.%%04d.%s\"\n\
108 Setting the VISP_INPUT_IMAGE_PATH environment\n\
109 variable produces the same behaviour than using\n\
110 this option.\n\
111\n\
112 -c\n\
113 Disable the mouse click. Useful to automate the \n\
114 execution of this program without human intervention.\n\
115\n\
116 -d \n\
117 Turn off the display.\n\
118\n\
119 -h\n\
120 Print the help.\n",
121 ipath.c_str(), ext.c_str());
122
123 if (badparam)
124 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
125}
139bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
140{
141 const char *optarg_;
142 int c;
143 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
144
145 switch (c) {
146 case 'c':
147 click_allowed = false;
148 break;
149 case 'd':
150 display = false;
151 break;
152 case 'i':
153 ipath = optarg_;
154 break;
155 case 'h':
156 usage(argv[0], NULL, ipath);
157 return false;
158 break;
159
160 default:
161 usage(argv[0], optarg_, ipath);
162 return false;
163 break;
164 }
165 }
166
167 if ((c == 1) || (c == -1)) {
168 // standalone param or error
169 usage(argv[0], NULL, ipath);
170 std::cerr << "ERROR: " << std::endl;
171 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
172 return false;
173 }
174
175 return true;
176}
177
178int main(int argc, const char **argv)
179{
180 try {
181 std::string env_ipath;
182 std::string opt_ipath;
183 std::string ipath;
184 std::string filename;
185 bool opt_click_allowed = true;
186 bool opt_display = true;
187
188#if VISP_HAVE_DATASET_VERSION >= 0x030600
189 std::string ext("png");
190#else
191 std::string ext("pgm");
192#endif
193
194 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
195 // environment variable value
197
198 // Set the default input path
199 if (!env_ipath.empty())
200 ipath = env_ipath;
201
202 // Read the command line options
203 if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
204 return EXIT_FAILURE;
205 }
206
207 // Get the option values
208 if (!opt_ipath.empty())
209 ipath = opt_ipath;
210
211 // Compare ipath and env_ipath. If they differ, we take into account
212 // the input path comming from the command line option
213 if (!opt_ipath.empty() && !env_ipath.empty()) {
214 if (ipath != env_ipath) {
215 std::cout << std::endl << "WARNING: " << std::endl;
216 std::cout << " Since -i <visp image path=" << ipath << "> "
217 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
218 << " we skip the environment variable." << std::endl;
219 }
220 }
221
222 // Test if an input path is set
223 if (opt_ipath.empty() && env_ipath.empty()) {
224 usage(argv[0], NULL, ipath);
225 std::cerr << std::endl << "ERROR:" << std::endl;
226 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
227 << " environment variable to specify the location of the " << std::endl
228 << " image path where test images are located." << std::endl
229 << std::endl;
230 return EXIT_FAILURE;
231 }
232
233 // Declare an image, this is a gray level image (unsigned char)
234 // it size is not defined yet, it will be defined when the image is
235 // read on the disk
237
238 // Set the path location of the image sequence
239 filename = vpIoTools::createFilePath(ipath, "ellipse-1/image.%04d." + ext);
240
241 // Build the name of the image file
242 vpVideoReader reader;
243 // Initialize the reader and get the first frame.
244 reader.setFileName(filename.c_str());
245 reader.setFirstFrameIndex(1);
246 reader.open(I);
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#elif defined(HAVE_OPENCV_HIGHGUI)
256 vpDisplayOpenCV display;
257#endif
258
259 if (opt_display) {
260 // Display size is automatically defined by the image (I) size
261 display.init(I, 100, 100, "Display...");
262 // Display the image
263 // The image class has a member that specify a pointer toward
264 // the display that has been initialized in the display declaration
265 // therefore is is no longer necessary to make a reference to the
266 // display variable.
269 }
270
271 vpMeNurbs nurbs;
272
273 vpMe me;
274 me.setRange(30);
275 me.setSampleStep(5);
276 me.setPointsToTrack(60);
278 me.setThreshold(20);
279
280 nurbs.setMe(&me);
282 nurbs.setNbControlPoints(14);
283
284 if (opt_click_allowed) {
285 std::cout << "Click on points along the edge with the left button." << std::endl;
286 std::cout << "Then click on the right button to continue." << std::endl;
287 nurbs.initTracking(I);
288 }
289 else {
290 // Create a list of points to automate the test
291 std::list<vpImagePoint> list;
292 list.push_back(vpImagePoint(178, 357));
293 list.push_back(vpImagePoint(212, 287));
294 list.push_back(vpImagePoint(236, 210));
295 list.push_back(vpImagePoint(240, 118));
296 list.push_back(vpImagePoint(210, 40));
297
298 nurbs.initTracking(I, list);
299 }
300 if (opt_display) {
301 nurbs.display(I, vpColor::green);
302 }
303
304 nurbs.track(I);
305 if (opt_display && opt_click_allowed) {
306 std::cout << "A click to continue..." << std::endl;
308 }
309 std::cout << "------------------------------------------------------------" << std::endl;
310
311 for (int iter = 1; iter < 40; iter++) {
312 // read the image
313 reader.getFrame(I, iter);
314 if (opt_display) {
315 // Display the image
317 }
318
319 // Track the nurbs
320 nurbs.track(I);
321
322 if (opt_display) {
323 nurbs.display(I, vpColor::green);
325 vpTime::wait(100);
326 }
327 }
328 if (opt_display && opt_click_allowed) {
329 std::cout << "A click to exit..." << std::endl;
331 }
332 return EXIT_SUCCESS;
333 }
334 catch (vpException &e) {
335 std::cout << "Catch an exception: " << e.getMessage() << std::endl;
336 return EXIT_SUCCESS;
337 }
338}
339#else
340#include <iostream>
341
342int main()
343{
344 std::cout << "visp_me module or X11, GTK, GDI or OpenCV display "
345 "functionalities are required..."
346 << std::endl;
347}
348
349#endif
static const vpColor green
Definition vpColor.h:214
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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:132
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 emitted by ViSP classes.
Definition vpException.h:59
const char * getMessage() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
static std::string getViSPImagesDataPath()
static std::string createFilePath(const std::string &parent, const std::string &child)
Class that tracks in an image a edge defined by a Nurbs.
Definition vpMeNurbs.h:129
void track(const vpImage< unsigned char > &I)
void initTracking(const vpImage< unsigned char > &I)
void setNbControlPoints(unsigned int nb_point)
Definition vpMeNurbs.h:178
void display(const vpImage< unsigned char > &I, const vpColor &color, unsigned int thickness=1)
@ RANGE_RESULT
Definition vpMeSite.h:75
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
void setMe(vpMe *p_me)
Definition vpMe.h:122
void setSampleStep(const double &s)
Definition vpMe.h:390
void setRange(const unsigned int &r)
Definition vpMe.h:383
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
Definition vpMe.h:445
void setPointsToTrack(const int &n)
Definition vpMe.h:376
@ NORMALIZED_THRESHOLD
Easy-to-use normalized likelihood threshold corresponding to the minimal luminance contrast to consid...
Definition vpMe.h:132
void setThreshold(const double &t)
Definition vpMe.h:435
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
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)