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) {
return EXIT_FAILURE;
}
#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
Class that provides tools to compute and manipulate a B-Spline curve.
static vpBasisFunction ** computeDersBasisFuns(double l_u, unsigned int l_i, unsigned int l_p, unsigned int l_der, std::vector< double > &l_knots)
static vpBasisFunction * computeBasisFuns(double l_u, unsigned int l_i, unsigned int l_p, std::vector< double > &l_knots)
void get_controlPoints(std::list< vpImagePoint > &list) const
void set_p(unsigned int degree)
unsigned int get_p() const
static vpImagePoint computeCurvePoint(double l_u, unsigned int l_i, unsigned int l_p, std::vector< double > &l_knots, std::vector< vpImagePoint > &l_controlPoints)
void set_controlPoints(const std::list< vpImagePoint > &list)
void get_knots(std::list< double > &list) const
void set_knots(const std::list< double > &list)
static unsigned int findSpan(double l_u, unsigned int l_p, std::vector< double > &l_knots)
static const vpColor green
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void set_ij(double ii, double jj)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)