ViSP  2.10.0
trackMeNurbs.cpp

Tracking of a nurbs using vpMe.

/****************************************************************************
*
* $Id: trackMeNurbs.cpp 5108 2015-01-05 07:48:58Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 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
* ("GPL") version 2 as published by the Free Software Foundation.
* 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 http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* 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 a nurbs.
*
* Authors:
* Nicolas Melchior
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpDebug.h>
#include <visp/vpConfig.h>
#include <stdlib.h>
#include <stdio.h>
#include <sstream>
#include <iomanip>
#if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp/vpImagePoint.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpColor.h>
#include <visp/vpMeNurbs.h>
#include <visp/vpParseArgv.h>
#include <visp/vpIoTools.h>
#include <visp/vpVideoReader.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)
{
fprintf(stdout, "\n\
Tracking of a nurbs using vpMe.\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 images \n\
\"ViSP-images/ellipse-1/image.%%04d.pgm\"\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 automaze the \n\
execution of this program without humain intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-h\n\
Print the help.\n",
ipath.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], NULL, 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], NULL, 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)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string filename;
bool opt_click_allowed = true;
bool opt_display = true;
// 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) {
exit (-1);
}
// 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 comming 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], NULL, 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;
exit(-1);
}
// Declare an image, this is a gray level image (unsigned char)
// it size is not defined yet, it will be defined when the image is
// read on the disk
vpImage<unsigned char> I ;
// Set the path location of the image sequence
filename = vpIoTools::createFilePath(ipath, "ViSP-images/ellipse-1/image.%04d.pgm");
// Build the name of the image file
vpVideoReader reader;
//Initialize the reader and get the first frame.
reader.setFileName(filename.c_str());
reader.setFirstFrameIndex(1);
reader.open(I);
// 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 VISP_HAVE_OPENCV
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 longuer necessary to make a reference to the
// display variable.
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
vpMeNurbs nurbs ;
vpMe me ;
me.setRange(30) ;
me.setSampleStep(5) ;
me.setPointsToTrack(60) ;
me.setThreshold(15000) ;
nurbs.setMe(&me);
nurbs.setDisplay(vpMeSite::RANGE_RESULT) ;
nurbs.setNbControlPoints(14);
if (opt_click_allowed)
{
std::cout << "Click on points along the edge with the left button." << std::endl;
std::cout << "Then click on the right button to continue." << std::endl;
nurbs.initTracking(I);
}
else
{
// Create a list of points to automate the test
std::list<vpImagePoint> list;
list.push_back(vpImagePoint(178,357));
list.push_back(vpImagePoint(212,287));
list.push_back(vpImagePoint(236,210));
list.push_back(vpImagePoint(240, 118));
list.push_back(vpImagePoint(210, 40));
nurbs.initTracking(I, list) ;
}
if (opt_display) {
nurbs.display(I, vpColor::green) ;
}
nurbs.track(I) ;
if (opt_display && opt_click_allowed) {
std::cout << "A click to continue..." << std::endl;
vpDisplay::getClick(I) ;
}
std::cout <<"------------------------------------------------------------"<<std::endl;
for (int iter = 1 ; iter < 40 ; iter++)
{
//read the image
reader.getFrame(I,iter);
if (opt_display) {
// Display the image
vpDisplay::display(I) ;
}
//Track the nurbs
nurbs.track(I) ;
if (opt_display) {
nurbs.display(I,vpColor::green) ;
vpDisplay::flush(I) ;
vpTime::wait(100);
}
}
if (opt_display && opt_click_allowed) {
std::cout << "A click to exit..." << std::endl;
vpDisplay::getClick(I) ;
}
return 0;
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
#else
int
main()
{
vpERROR_TRACE("You do not have X11, GTK, GDI or OpenCV display functionalities...");
}
#endif