trackMeLine.cpp

/****************************************************************************
 *
 * $Id: trackMeLine.cpp 4323 2013-07-18 09:24:01Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 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 line.
 *
 * Authors:
 * Eric Marchand
 * 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))


#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/vpColor.h>

#include <visp/vpMeLine.h>

#include <visp/vpFeatureLine.h>
#include <visp/vpFeatureBuilder.h>

#include <visp/vpParseArgv.h>
#include <visp/vpIoTools.h>

// List of allowed command line options
#define GETOPTARGS  "cdi:h"

void usage(const char *name, const char *badparam, std::string ipath)
{
  fprintf(stdout, "\n\
Tracking of a line.\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 \"ViSP-images/line/image.%%04d.pgm\"\n\
     images. \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)
{
  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;

  // Get the VISP_IMAGE_PATH environment variable value
  char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
  if (ptenv != NULL)
    env_ipath = ptenv;

  // 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 will
  // read on the disk
  vpImage<unsigned char> I ;

  // Set the path location of the image sequence
  dirname = ipath +  vpIoTools::path("/ViSP-images/line/");

  // Build the name of the image file
  unsigned iter = 1; // Image number
  std::ostringstream s;
  s.setf(std::ios::right, std::ios::adjustfield);
  s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
  filename = dirname + s.str();

  // Read the PGM image named "filename" on the disk, and put the
  // bitmap into the image structure I.  I is initialized to the
  // correct size
  //
  // exception readPGM 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(...)
  {
    // an exception is throwned if an exception from readPGM has been catched
    // here this will result in the end of the program
    // Note that another error message has been printed from readPGM
    // 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;
    exit(-1);
  }

  // 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;
#endif

  if (opt_display) {
    try{
      // 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) ;
    }
    catch(...)
    {
      vpERROR_TRACE("Error while displaying the image") ;
      exit(-1);
    }
  }


  vpMeLine L1 ;

  vpMe me ;
  me.setRange(15) ;
  me.setPointsToTrack(160) ;
  me.setThreshold(15000) ;


  L1.setMe(&me) ;
  L1.setDisplay(vpMeSite::RANGE_RESULT) ;

  if (opt_display && opt_click_allowed)
    L1.initTracking(I) ;
  else {
    vpImagePoint ip1, ip2;
    ip1.set_i( 96 );
    ip1.set_j( 191 );
    ip2.set_i( 122 );
    ip2.set_j( 211 );
    L1.initTracking(I, ip1, ip2) ;
  }

  if (opt_display)
    L1.display(I, vpColor::green) ;

  L1.track(I) ;
  if (opt_display && opt_click_allowed) {
    std::cout << "A click to continue..." << std::endl;
    vpDisplay::getClick(I) ;
  }
  std::cout <<"----------------------------------------------------------"<<std::endl;

  vpFeatureLine l ;

  vpCameraParameters cam ;
  vpImage<vpRGBa> Ic ;
  for (int iter = 1 ; iter < 30 ; iter++)
  {
    std::cout <<"----------------------------------------------------------"<<std::endl;
    // set the new image name
    s.str("");
    s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
    filename = dirname + s.str();
    // read the image
    vpImageIo::read(I, filename);
    if (opt_display) {
      // Display the image
      vpDisplay::display(I) ;
    }

    try
    {
      std::cout << "Tracking on image: " << filename << std::endl;
      L1.track(I) ;
    }
    catch(...)
    {
      vpERROR_TRACE("Error in tracking vpMeLine ") ;
      exit(1) ;
    }

    vpTRACE("L1 : %f %f", L1.getRho(), vpMath::deg(L1.getTheta())) ;
    vpFeatureBuilder::create(l,cam,L1) ;
    vpTRACE("L1 : %f %f", l.getRho(), vpMath::deg(l.getTheta())) ;

    if (opt_display) {
      L1.display(I,vpColor::green) ;
      vpDisplay::flush(I) ;
      if (opt_click_allowed) {
        std::cout << "A click to continue..." << std::endl;
        vpDisplay::getClick(I) ;
      }
    }
  }
  if (opt_display && opt_click_allowed) {
    std::cout << "A click to exit..." << std::endl;
    vpDisplay::getClick(I) ;
  }
}

#else
int
main()
{
  vpERROR_TRACE("You do not have X11, GTK or GDI display functionalities...");
}

#endif