Example of dots tracking in an image sequence and pose computation.
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/blob/vpDot.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/vision/vpPose.h>
#define GETOPTARGS "cdi:p:hf:n:s:"
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath, unsigned first,
unsigned nimages, unsigned step);
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &nimages,
unsigned &step, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath, unsigned first,
unsigned nimages, unsigned step)
{
fprintf(stdout, "\n\
Test dot tracking.\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-p <personal image path>]\n\
[-f <first image>] [-n <number of images>] [-s <step>][-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\
\"cube/image.%%04d.pgm\"\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-p <personal image path> %s\n\
Specify a personal sequence containing images \n\
to process.\n\
By image sequence, we mean one file per image.\n\
The following image file formats PNM (PGM P5, PPM P6)\n\
are supported. The format is selected by analysing \n\
the filename extension.\n\
Example : \"/Temp/ViSP-images/cube/image.%%04d.pgm\"\n\
%%04d is for the image numbering.\n\
\n\
-f <first image> %u\n\
First image number of the sequence.\n\
\n\
-n <number of images> %u\n\
Number of images to load from the sequence.\n\
\n\
-s <step> %u\n\
Step between two images.\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(), ppath.c_str(), first, nimages, step);
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &nimages,
unsigned &step, bool &click_allowed, bool &display)
{
const char *optarg_;
int c;
switch (c) {
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
case 'i':
ipath = optarg_;
break;
case 'p':
ppath = optarg_;
break;
case 'f':
first = (unsigned)atoi(optarg_);
break;
case 'n':
nimages = (unsigned)atoi(optarg_);
break;
case 's':
step = (unsigned)atoi(optarg_);
break;
case 'h':
usage(argv[0], NULL, ipath, ppath, first, nimages, step);
return false;
break;
default:
usage(argv[0], optarg_, ipath, ppath, first, nimages, step);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
usage(argv[0], NULL, ipath, ppath, first, nimages, step);
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 opt_ppath;
std::string dirname;
std::string filename;
unsigned opt_first = 0;
unsigned opt_nimages = 80;
unsigned opt_step = 1;
bool opt_click_allowed = true;
bool opt_display = true;
int i;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " poseVirtualVS.cpp" << std::endl << std::endl;
std::cout << " Example of dots tracking in an image sequence and pose "
"computation"
<< std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
if (!env_ipath.empty())
ipath = env_ipath;
if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_nimages, opt_step, opt_click_allowed,
opt_display) == false) {
exit(-1);
}
if (!opt_ipath.empty())
ipath = opt_ipath;
if (opt_ipath.empty() && opt_ppath.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;
}
}
if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()) {
usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step);
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
<< " Use -p <personal image path> option if you want to " << std::endl
<< " use personal images" << std::endl
<< std::endl;
exit(-1);
}
unsigned iter = opt_first;
std::ostringstream s;
char cfilename[FILENAME_MAX];
if (opt_ppath.empty()) {
s.setf(std::ios::right, std::ios::adjustfield);
s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
} else {
sprintf(cfilename, opt_ppath.c_str(), iter);
filename = cfilename;
}
for (i = 0; i < 4; i++) {
if (opt_display) {
} else {
}
}
try {
} catch (...) {
if (opt_ppath.empty()) {
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;
} else {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot read " << filename << std::endl;
std::cerr << " or your -p " << opt_ppath << " option " << std::endl << std::endl;
}
exit(-1);
}
#if defined VISP_HAVE_X11
#elif defined VISP_HAVE_GTK
#elif defined VISP_HAVE_GDI
#elif defined VISP_HAVE_OPENCV
#endif
if (opt_display) {
display.
init(I, 100, 100,
"tracking using vpDot");
}
if (opt_display && opt_click_allowed) {
std::cout << "Click the four white dots on the object corner clockwise" << std::endl;
for (i = 0; i < 4; i++) {
}
} else {
}
if (opt_display) {
for (i = 0; i < 4; i++)
}
double L = 0.04;
double px = 600;
double py = 600;
double u0 = 192;
double v0 = 144;
for (i = 0; i < 4; i++) {
double x = 0, y = 0;
}
for (i = 0; i < 4; i++) {
}
if (opt_display) {
}
unsigned niter = 0;
while (iter < opt_nimages) {
if (opt_ppath.empty()) {
s.str("");
s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
} else {
sprintf(cfilename, opt_ppath.c_str(), iter);
filename = cfilename;
}
if (opt_display) {
}
for (i = 0; i < 4; i++) {
if (opt_display) {
}
{
double x = 0, y = 0;
}
}
if (opt_display) {
}
niter++;
iter += opt_step;
}
return EXIT_SUCCESS;
std::cout << "Catch a ViSP exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have X11, or GTK, 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