Visual Servoing Platform  version 3.0.0
BSpline.cpp

Describe a curve thanks to a BSpline.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 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://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:
* Exemple of a B-Spline curve.
*
* Authors:
* Nicolas Melchior
*
*****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpBSpline.h>
#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpDisplay.h>
#ifdef VISP_HAVE_MODULE_GUI
# include <visp3/gui/vpDisplayGTK.h>
# include <visp3/gui/vpDisplayGDI.h>
# include <visp3/gui/vpDisplayOpenCV.h>
# include <visp3/gui/vpDisplayD3D.h>
# include <visp3/gui/vpDisplayX.h> // Should be after #include <visp3/gui/vpDisplayOpenCV.h>
#endif
#include <visp3/io/vpParseArgv.h>
#include <visp3/core/vpIoTools.h>
#include <cstdlib>
#include <stdlib.h>
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_D3D9)
// List of allowed command line options
#define GETOPTARGS "cdh"
void usage(const char *name, const char *badparam);
bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Describe a curve thanks to a BSpline.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\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");
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, 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 'h': usage(argv[0], NULL); return false; break;
default:
usage(argv[0], optarg_);
return false; break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
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 {
bool opt_click_allowed = true;
bool opt_display = true;
// Read the command line options
if (getOptions(argc, argv, opt_click_allowed,
opt_display) == false) {
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(540,480);
// We open a window using either X11, GTK or GDI.
#ifdef VISP_HAVE_MODULE_GUI
#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;
#elif defined VISP_HAVE_D3D9
vpDisplayD3D display;
#endif
if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100,"Display image") ;
vpDisplay::display(I) ;
vpDisplay::flush(I) ;
}
#endif
vpBSpline bSpline;
std::list<double> knots;
knots.push_back(0);
knots.push_back(0);
knots.push_back(0);
knots.push_back(1);
knots.push_back(2);
knots.push_back(3);
knots.push_back(4);
knots.push_back(4);
knots.push_back(5);
knots.push_back(5);
knots.push_back(5);
std::list<vpImagePoint> controlPoints;
vpImagePoint pt;
pt.set_ij(50,300);
controlPoints.push_back(pt);
pt.set_ij(100,130);
controlPoints.push_back(pt);
pt.set_ij(150,400);
controlPoints.push_back(pt);
pt.set_ij(200,370);
controlPoints.push_back(pt);
pt.set_ij(250,120);
controlPoints.push_back(pt);
pt.set_ij(300,250);
controlPoints.push_back(pt);
pt.set_ij(350,200);
controlPoints.push_back(pt);
pt.set_ij(400,300);
controlPoints.push_back(pt);
bSpline.set_p(2);
bSpline.set_knots(knots);
bSpline.set_controlPoints(controlPoints);
std::cout << "The parameters are :" <<std::endl;
std::cout << "p : " << bSpline.get_p() <<std::endl;
std::cout << "" <<std::endl;
std::cout << "The knot vector :" <<std::endl;
std::list<double> knots_cur;
bSpline.get_knots(knots_cur);
unsigned int i_display=0;
for(std::list<double>::const_iterator it=knots_cur.begin(); it!=knots_cur.end(); ++it, ++i_display){
std::cout << i_display << " ---> " << *it << std::endl;
}
std::cout << "The control points are :" <<std::endl;
std::list<vpImagePoint> controlPoints_cur;
bSpline.get_controlPoints(controlPoints_cur);
i_display=0;
for(std::list<vpImagePoint>::const_iterator it=controlPoints_cur.begin(); it!=controlPoints_cur.end(); ++it, ++i_display){
std::cout << i_display << " ---> " << *it << std::endl;
}
unsigned int i = bSpline.findSpan(5/2.0);
std::cout << "The knot interval number for the value u = 5/2 is : " << i <<std::endl;
vpBasisFunction *N = NULL;
N = bSpline.computeBasisFuns(5/2.0);
std::cout << "The nonvanishing basis functions N(u=5/2) are :" << std::endl;
for (unsigned int j = 0; j < bSpline.get_p()+1; j++)
std::cout << N[j].value << std::endl;
vpBasisFunction **N2 = NULL;
N2 = bSpline.computeDersBasisFuns(5/2.0, 2);
std::cout << "The first derivatives of the basis functions N'(u=5/2) are :" << std::endl;
for (unsigned int j = 0; j < bSpline.get_p()+1; j++)
std::cout << N2[1][j].value << std::endl;
std::cout << "The second derivatives of the basis functions N''(u=5/2) are :" << std::endl;
for (unsigned int j = 0; j < bSpline.get_p()+1; j++)
std::cout << N2[2][j].value << std::endl;
if (opt_display && opt_click_allowed)
{
double u = 0.0;
while (u <= 5)
{
pt = bSpline.computeCurvePoint(u);
vpDisplay::displayCross(I,pt,4,vpColor::red);
u+=0.01;
}
for(std::list<vpImagePoint>::const_iterator it=controlPoints.begin(); it!= controlPoints.end(); ++it){
vpDisplay::displayCross(I, *it, 4, vpColor::green);
}
vpDisplay::flush(I) ;
vpDisplay::getClick(I);
}
if (N != NULL) delete[] N;
if (N2 != NULL)
{
for (unsigned int j = 0; j <= 2; j++)
delete[] N2[j];
delete[] N2;
}
return 0;
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
#else
int main()
{
std::cout << "This example requires a video device. "
<< std::endl
<< "You should install X11, GTK, OpenCV, GDI or Direct3D"
<< std::endl
<< "to be able to execute this example."
<< std::endl;
return 0;
}
#endif