trackDot2WithAutoDetection.cpp

Example of auto detection of dots using vpDot2.

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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:
 * Test auto detection of dots.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/
#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>

// List of allowed command line options
#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;
  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 '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)) {
    // standalone param or error
    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;

    // 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_ppath, opt_first, opt_nimages, opt_step, opt_sizePrecision,
                   opt_grayLevelPrecision, opt_ellipsoidShapePrecision, 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() && 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;
      }
    }

    // Test if an input path is set
    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);
    }

    // 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;
    std::ostringstream s;
    char cfilename[FILENAME_MAX];
    unsigned iter = opt_first; // Image number

    if (opt_ppath.empty()) {

      // Warning :
      // the image sequence is not provided with the ViSP package
      // therefore the program will return you an error :
      //  !!    vpImageIoPnm.cpp: readPGM(#210) :couldn't read file
      //        ViSP-images/cube/image.0001.pgm
      //  !!    vpDotExample.cpp: main(#95) :Error while reading the image
      //  terminate called after throwing an instance of 'vpImageException'
      //
      //  The sequence is available on the visp www site
      //  https://visp.inria.fr/download/
      //  in the download section. It is named "ViSP-images.tar.gz"

      // Set the path location of the image sequence
      dirname = vpIoTools::createFilePath(ipath, "mire-2");

      // Build the name of the image file

      s.setf(std::ios::right, std::ios::adjustfield);
      s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
      filename = vpIoTools::createFilePath(dirname, s.str());
    } else {

      sprintf(cfilename, opt_ppath.c_str(), iter);
      filename = cfilename;
    }
    // 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 your -p " << opt_ppath << " option " << std::endl
                << "  or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
      exit(-1);
    }

// We open a window using either GTK, X11 or GDI.
#if defined VISP_HAVE_GTK
    vpDisplayGTK display;
#elif defined VISP_HAVE_X11
    vpDisplayX 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);
    }

    // Dot declaration
    vpDot2 d;

    d.setGraphics(true);
    if (opt_click_allowed & opt_display) {
      d.setGrayLevelPrecision(opt_grayLevelPrecision);

      std::cout << "Please click on a dot to initialize detection" << std::endl;

      d.initTracking(I);
      if (opt_display) {
        vpImagePoint cog;
        cog = d.getCog();
        vpDisplay::displayCross(I, cog, 10, vpColor::green);
        vpDisplay::flush(I);
      }
      d.setSizePrecision(opt_sizePrecision);
      d.setEllipsoidShapePrecision(opt_ellipsoidShapePrecision);
      printf("Dot characteristics: \n");
      printf("  width : %lf\n", d.getWidth());
      printf("  height: %lf\n", d.getHeight());
      printf("  area: %lf\n", d.getArea());
      printf("  gray level min: %u\n", d.getGrayLevelMin());
      printf("  gray level max: %u\n", d.getGrayLevelMax());
      printf("  grayLevelPrecision: %lf\n", d.getGrayLevelPrecision());
      printf("  sizePrecision: %lf\n", d.getSizePrecision());
      printf("  ellipsoidShapePrecision: %lf\n", d.getEllipsoidShapePrecision());
    } else {
      //  Set dot characteristics for the auto detection
      d.setGraphics(true);
      d.setWidth(15.0);
      d.setHeight(12.0);
      d.setArea(124);
      d.setGrayLevelMin(164);
      d.setGrayLevelMax(255);
      d.setGrayLevelPrecision(opt_grayLevelPrecision);
      d.setSizePrecision(opt_sizePrecision);
      d.setEllipsoidShapePrecision(opt_ellipsoidShapePrecision);
    }

    while (iter < opt_first + opt_nimages * opt_step) {
      // set the new image name

      if (opt_ppath.empty()) {

        s.str("");
        s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
        filename = vpIoTools::createFilePath(dirname, s.str());
      } else {
        sprintf(cfilename, opt_ppath.c_str(), iter);
        filename = cfilename;
      }
      // read the image
      vpImageIo::read(I, filename);

      if (opt_display) {
        // Display the image
        vpDisplay::display(I);
      }

      std::cout << "Search dots in image" << filename << std::endl;
      std::list<vpDot2> list_d;
      d.searchDotsInArea(I, 0, 0, I.getWidth(), I.getHeight(), 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;
          // Parse all founded dots for display
          for (std::list<vpDot2>::const_iterator it = list_d.begin(); it != list_d.end(); ++it) {
            vpImagePoint cog = (*it).getCog();

            std::cout << "Dot " << i++ << " : " << cog.get_u() << " " << cog.get_v() << std::endl;

            vpDisplay::displayCross(I, cog, 16, vpColor::blue, 3);
          }
          vpDisplay::flush(I);
        }
      }

      // If click is allowed, wait for a mouse click to launch the next
      // iteration
      if (opt_display && opt_click_allowed) {
        std::cout << "\nA click to continue..." << std::endl;
        // Wait for a blocking mouse click
        vpDisplay::getClick(I);
      }

      iter += opt_step;
    }
    if (opt_display && opt_click_allowed) {
      std::cout << "\nA click to exit..." << std::endl;
      // Wait for a blocking mouse click
      vpDisplay::getClick(I);
    }

    return EXIT_SUCCESS;
  } catch (const vpException &e) {
    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