#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#if defined(VISP_HAVE_MODULE_BLOB) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#define GETOPTARGS "cdi:p:f:n:s:S:G:E:h"
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath, unsigned first,
unsigned nimages, unsigned step, double sizePrecision, double grayLevelPrecision,
double ellipsoidShapePrecision);
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &nimages,
unsigned &step, double &sizePrecision, double &grayLevelPrecision, double &ellipsoidShapePrecision,
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, double sizePrecision, double grayLevelPrecision,
double ellipsoidShapePrecision)
{
fprintf(stdout, "\n\
Test auto detection of dots using vpDot2.\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-p <personal image path>]\n\
[-f <first image>] [-n <number of images>] [-s <step>] \n\
[-S <size precision>] [-G <gray level precision>]\n\
[-E <ellipsoid shape precision>] [-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\
\"mire-2/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\
-S <size precision> %f\n\
Precision of the size of the dot. \n\
It is a double precision float witch value is in ]0,1].\n\
1 means full precision, the sizes (width, heigth, surface) \n\
of the dots must the same, whereas values close to 0 \n\
show a very bad precision.\n\
\n\
-G <gray level precision> %f\n\
Precision of the gray level of the dot. \n\
It is a double precision float witch value is in ]0,1].\n\
1 means full precision, the gray level must the same in \n\
the wall dot, whereas values close to 0 \n\
show a very bad precision.\n\
\n\
-E <ellipsoid shape precision> %f\n\
Precision of the ellipsoid shape of the dot. \n\
It is a double precision float witch value is in [0,1].\n\
1 means full precision, the shape should be a perfect ellipsoid,\n\
whereas values close to 0 show a very bad precision.\n\
0 means the shape of dots is not tested \n\
\n", ipath.c_str(), ppath.c_str(), first, nimages, step, sizePrecision, grayLevelPrecision,
ellipsoidShapePrecision);
fprintf(stdout, "\
-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, std::string &ipath, std::string &ppath, unsigned &first, unsigned &nimages,
unsigned &step, double &sizePrecision, double &grayLevelPrecision, double &ellipsoidShapePrecision,
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 'S':
sizePrecision = atof(optarg_);
break;
case 'G':
grayLevelPrecision = atof(optarg_);
break;
case 'E':
ellipsoidShapePrecision = atof(optarg_);
break;
case 'h':
usage(argv[0], NULL, ipath, ppath, first, nimages, step, sizePrecision, grayLevelPrecision,
ellipsoidShapePrecision);
return false;
break;
default:
usage(argv[0], optarg_, ipath, ppath, first, nimages, step, sizePrecision, grayLevelPrecision,
ellipsoidShapePrecision);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
usage(argv[0], NULL, ipath, ppath, first, nimages, step, sizePrecision, grayLevelPrecision,
ellipsoidShapePrecision);
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 = 1;
unsigned opt_nimages = 10;
unsigned opt_step = 1;
double opt_sizePrecision = 0.65;
double opt_grayLevelPrecision = 0.85;
double opt_ellipsoidShapePrecision = 0.8;
bool opt_click_allowed = true;
bool opt_display = true;
if (!env_ipath.empty())
ipath = env_ipath;
if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_nimages, opt_step, opt_sizePrecision,
opt_grayLevelPrecision, opt_ellipsoidShapePrecision, opt_click_allowed, opt_display) == false) {
exit(-1);
}
if (!opt_ipath.empty())
ipath = opt_ipath;
if (!opt_ipath.empty() && !env_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()) {
usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_nimages, opt_step, opt_sizePrecision,
opt_grayLevelPrecision, opt_ellipsoidShapePrecision);
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
<< " Use -p <personal image path> option if you want to " << std::endl
<< " use personal images." << std::endl;
exit(-1);
}
std::ostringstream s;
char cfilename[FILENAME_MAX];
unsigned iter = opt_first;
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;
}
try {
vpCTRACE <<
"Load: " << filename << std::endl;
} catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot read " << filename << std::endl;
std::cerr << " Check your -i " << ipath << " option " << std::endl
<< " or your -p " << opt_ppath << " option " << std::endl
<< " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
exit(-1);
}
#if defined VISP_HAVE_GTK
#elif defined VISP_HAVE_X11
#elif defined VISP_HAVE_GDI
#elif defined VISP_HAVE_OPENCV
#endif
if (opt_display) {
display.
init(I, 100, 100,
"Display...");
}
if (opt_click_allowed & opt_display) {
std::cout << "Please click on a dot to initialize detection" << std::endl;
if (opt_display) {
}
printf("Dot characteristics: \n");
printf(
" area: %lf\n", d.
getArea());
} else {
}
while (iter < opt_first + opt_nimages * opt_step) {
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) {
}
std::cout << "Search dots in image" << filename << std::endl;
std::list<vpDot2> list_d;
if (list_d.empty()) {
std::cout << "Dot auto detection did not work." << std::endl;
return (-1);
} else {
std::cout << std::endl << list_d.size() << " dots are detected" << std::endl;
if (opt_display) {
int i = 0;
for (std::list<vpDot2>::const_iterator it = list_d.begin(); it != list_d.end(); ++it) {
std::cout <<
"Dot " << i++ <<
" : " << cog.
get_u() <<
" " << cog.
get_v() << std::endl;
}
}
}
if (opt_display && opt_click_allowed) {
std::cout << "\nA click to continue..." << std::endl;
}
iter += opt_step;
}
if (opt_display && opt_click_allowed) {
std::cout << "\nA click to exit..." << std::endl;
}
return EXIT_SUCCESS;
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
#include <iostream>
int main()
{
std::cout << "visp_me module or X11, GTK, GDI or OpenCV display "
"functionalities are required..."
<< std::endl;
return EXIT_SUCCESS;
}
#endif