Describe a curve thanks to a BSpline.
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpBSpline.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/io/vpImageIo.h>
#ifdef VISP_HAVE_MODULE_GUI
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#endif
#include <cstdlib>
#include <stdlib.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || \
defined(VISP_HAVE_D3D9)
#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;
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)) {
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;
if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
exit(-1);
}
#ifdef VISP_HAVE_MODULE_GUI
#if defined VISP_HAVE_X11
#elif defined VISP_HAVE_GTK
#elif defined VISP_HAVE_GDI
#elif defined VISP_HAVE_OPENCV
#elif defined VISP_HAVE_D3D9
#endif
if (opt_display) {
display.
init(I, 100, 100,
"Display image");
}
#endif
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;
controlPoints.push_back(pt);
controlPoints.push_back(pt);
controlPoints.push_back(pt);
controlPoints.push_back(pt);
controlPoints.push_back(pt);
controlPoints.push_back(pt);
controlPoints.push_back(pt);
controlPoints.push_back(pt);
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;
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;
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;
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;
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) {
u += 0.01;
}
for (std::list<vpImagePoint>::const_iterator it = controlPoints.begin(); it != controlPoints.end(); ++it) {
}
}
if (N != NULL)
delete[] N;
if (N2 != NULL) {
for (unsigned int j = 0; j <= 2; j++)
delete[] N2[j];
delete[] N2;
}
return EXIT_SUCCESS;
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have X11, GTK, or OpenCV, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif