trackMeCircle.cpp

Tracking of an ellipse using vpMe.

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Tracking of an ellipse.
 *
*****************************************************************************/
 
#include <visp3/core/vpConfig.h>
 
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
 
#if defined(VISP_HAVE_MODULE_ME) &&                                                                                    \
    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
 
#include <visp3/core/vpColor.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
 
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/me/vpMeEllipse.h>
 
// List of allowed command line options
#define GETOPTARGS "cdi:h"
 
void usage(const char *name, const char *badparam, std::string ipath);
bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
 
void usage(const char *name, const char *badparam, std::string ipath)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
  std::string ext("png");
#else
  std::string ext("pgm");
#endif
  fprintf(stdout, "\n\
Test auto detection of dots using vpDot2.\n\
\n\
SYNOPSIS\n\
  %s [-i <input image path>] [-c] [-d] [-h]\n",
    name);
 
  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -i <input image path>                                %s\n\
     Set image input path.\n\
     From this path read \"circle/circle.%s\"\n\
     image. \n\
     Setting the VISP_INPUT_IMAGE_PATH environment\n\
     variable produces the same behaviour than using\n\
     this option.\n\
\n\
  -c\n\
     Disable the mouse click. Useful to automate the \n\
     execution of this program without human intervention.\n\
\n\
  -d \n\
     Turn off the display.\n\
\n\
  -h\n\
     Print the help.\n",
    ipath.c_str(), ext.c_str());
 
  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
{
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
 
    switch (c) {
    case 'c':
      click_allowed = false;
      break;
    case 'd':
      display = false;
      break;
    case 'i':
      ipath = optarg_;
      break;
    case 'h':
      usage(argv[0], nullptr, ipath);
      return false;
      break;
 
    default:
      usage(argv[0], optarg_, ipath);
      return false;
      break;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr, ipath);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }
 
  return true;
}
 
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)
  try {
    std::string env_ipath;
    std::string opt_ipath;
    std::string ipath;
    std::string dirname;
    std::string filename;
    bool opt_click_allowed = true;
    bool opt_display = true;
 
#if VISP_HAVE_DATASET_VERSION >= 0x030600
    std::string ext("png");
#else
    std::string ext("pgm");
#endif
 
    // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
    // environment variable value
    env_ipath = vpIoTools::getViSPImagesDataPath();
 
    // Set the default input path
    if (!env_ipath.empty())
      ipath = env_ipath;
 
    // Read the command line options
    if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
      return EXIT_FAILURE;
    }
 
    // Get the option values
    if (!opt_ipath.empty())
      ipath = opt_ipath;
 
    // Compare ipath and env_ipath. If they differ, we take into account
    // the input path coming from the command line option
    if (!opt_ipath.empty() && !env_ipath.empty()) {
      if (ipath != env_ipath) {
        std::cout << std::endl << "WARNING: " << std::endl;
        std::cout << "  Since -i <visp image path=" << ipath << "> "
          << "  is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
          << "  we skip the environment variable." << std::endl;
      }
    }
 
    // Test if an input path is set
    if (opt_ipath.empty() && env_ipath.empty()) {
      usage(argv[0], nullptr, ipath);
      std::cerr << std::endl << "ERROR:" << std::endl;
      std::cerr << "  Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
        << "  environment variable to specify the location of the " << std::endl
        << "  image path where test images are located." << std::endl
        << std::endl;
      return EXIT_FAILURE;
    }
 
    // Declare an image, this is a gray level image (unsigned char)
    // it size is not defined yet, it will be defined when the image will
    // read on the disk
    vpImage<unsigned char> I;
 
    // Set the path location of the image sequence
    dirname = vpIoTools::createFilePath(ipath, "circle");
 
    // Build the name of the image file
    filename = vpIoTools::createFilePath(dirname, "circle." + ext);
 
    // Read the image into the image structure I.  I is initialized to the correct size
    // vpImageIo::read() may throw various exception if, for example,
    // the file does not exist, or if the memory cannot be allocated
    try {
      vpCTRACE << "Load: " << filename << std::endl;
 
      vpImageIo::read(I, filename);
    }
    catch (...) {
      // If an exception is throwned it is catched here and will result in the end of the program.
      // Note that another error message can be printed from vpImageIo::read() to give more
      // information about the error
      std::cerr << std::endl << "ERROR:" << std::endl;
      std::cerr << "  Cannot read " << filename << std::endl;
      std::cerr << "  Check your -i " << ipath << " option " << std::endl
        << "  or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
      return EXIT_FAILURE;
    }
 
    // We open a window using either X11, GTK or GDI.
#if defined(VISP_HAVE_X11)
    vpDisplayX display;
#elif defined(VISP_HAVE_GTK)
    vpDisplayGTK display;
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI display;
#elif defined(HAVE_OPENCV_HIGHGUI)
    vpDisplayOpenCV display;
#endif
 
    if (opt_display) {
      // Display size is automatically defined by the image (I) size
      display.init(I, 100, 100, "Display...");
      // Display the image
      // The image class has a member that specify a pointer toward
      // the display that has been initialized in the display declaration
      // therefore is is no longer necessary to make a reference to the
      // display variable.
      vpDisplay::display(I);
      vpDisplay::flush(I);
    }
 
    vpMeEllipse E1;
 
    vpMe me;
    me.setRange(20);
    me.setSampleStep(2);
    me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
    me.setThreshold(20);
 
    E1.setMe(&me);
    E1.setDisplay(vpMeSite::RANGE_RESULT);
    // If click is allowed, wait for a mouse click to select the points
    // on the ellipse
    if (opt_display && opt_click_allowed) {
      E1.initTracking(I);
    }
    else {
      // Create a list of points to automate the test
      std::vector<vpImagePoint> ip;
      ip.push_back(vpImagePoint(78, 203));
      ip.push_back(vpImagePoint(62, 125));
      ip.push_back(vpImagePoint(128, 101));
      ip.push_back(vpImagePoint(167, 147));
      ip.push_back(vpImagePoint(147, 200));
 
      E1.initTracking(I, ip);
    }
 
    if (opt_display) {
      E1.display(I, vpColor::green);
      vpDisplay::flush(I);
    }
 
    vpTRACE("sample step %f ", E1.getMe()->getSampleStep());
    std::cout << "Tracking on image: " << filename << std::endl;
    E1.track(I);
    if (opt_display) {
      vpDisplay::flush(I);
    }
 
    if (opt_display && opt_click_allowed) {
      std::cout << "A click to exit..." << std::endl;
      vpDisplay::getClick(I);
    }
    std::cout << "------------------------------------------------------------" << std::endl;
    return EXIT_SUCCESS;
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
#else
  (void)argc;
  (void)argv;
  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
#endif
}
#else
#include <iostream>
 
int main()
{
  std::cout << "visp_me module or X11, GTK, GDI or OpenCV display "
    "functionalities are required..."
    << std::endl;
  return EXIT_SUCCESS;
}
 
#endif