trackMeLine.cpp

Tracking of a line using vpMe.

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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:
 * Tracking of a line.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpConfig.h>

#include <stdlib.h>
#include <stdio.h>
#include <sstream>
#include <iomanip>

#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/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/core/vpColor.h>

#include <visp3/me/vpMeLine.h>

#include <visp3/visual_features/vpFeatureLine.h>
#include <visp3/visual_features/vpFeatureBuilder.h>

#include <visp3/io/vpParseArgv.h>
#include <visp3/core/vpIoTools.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 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)
{
  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;

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

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

    // Build the name of the image file
    unsigned int 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 = vpIoTools::createFilePath(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;
#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) ;
    }

    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 (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 = vpIoTools::createFilePath(dirname, s.str());
      // read the image
      vpImageIo::read(I, filename);
      if (opt_display) {
        // Display the image
        vpDisplay::display(I) ;
      }

      std::cout << "Tracking on image: " << filename << std::endl;
      L1.track(I) ;

      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) ;
    }
    return 0;
  }
  catch(vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}

#else
#include <iostream>

int main()
{
  std::cout << "visp_me module or X11, GTK, GDI or OpenCV display functionalities are required..." << std::endl;
}

#endif