Visual Servoing Platform  version 3.6.1 under development (2024-04-23)
displaySequence.cpp

Read an image sequence from the disk and display it.

The sequence is made of separate images. Each image corresponds to a PGM file.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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 https://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:
* Read an image sequence from the disk and display it.
*
*****************************************************************************/
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
#if (defined(VISP_HAVE_GTK) || defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/core/vpTime.h>
// List of allowed command line options
#define GETOPTARGS "di:p:hf:l:s:w"
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath, unsigned first,
unsigned last, unsigned step)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
fprintf(stdout, "\n\
Read an image sequence from the disk and display it.\n\
The sequence is made of separate images. Each image corresponds\n\
to a PGM file.\n\
\n\
SYNOPSIS\n\
%s [-i <test image path>] [-p <personal image path>]\n\
[-f <first image>] [-l <last image>] [-s <step>] \n\
[-w] [-d] [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <test image path> %s\n\
Set image input path.\n\
From this path read \"cube/image.%%04d.%s\"\n\
images. These images come from ViSP-images-x.y.z.tar.gz\n\
available on the ViSP website.\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 format is selected by analysing the filename extension.\n\
Example : \"/Temp/visp-images/cube/image.%%04d.%s\"\n\
%%04d is for the image numbering.\n\
\n\
-f <first image> %u\n\
First image number of the sequence.\n\
\n\
-l <last image> %u\n\
last image number of the sequence.\n\
\n\
-s <step> %u\n\
Step between two images.\n\
\n\
-d \n\
Disable the image display. This can be useful \n\
for automatic tests using crontab under Unix or \n\
using the task manager under Windows.\n\
\n\
-w\n\
Wait for a mouse click between two images.\n\
If the image display is disabled (using -d)\n\
this option is without effect.\n\
\n\
-h\n\
Print the help.\n\n",
ipath.c_str(), ext.c_str(), ppath.c_str(), ext.c_str(), first, last, 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 &last,
unsigned &step, bool &display, bool &wait)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'd':
display = false;
break;
case 'i':
ipath = optarg_;
break;
case 'p':
ppath = optarg_;
break;
case 'f':
first = (unsigned)atoi(optarg_);
break;
case 'l':
last = (unsigned)atoi(optarg_);
break;
case 's':
step = (unsigned)atoi(optarg_);
break;
case 'w':
wait = true;
break;
case 'h':
usage(argv[0], nullptr, ipath, ppath, first, last, step);
return false;
break;
default:
usage(argv[0], optarg_, ipath, ppath, first, last, step);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], nullptr, ipath, ppath, first, last, 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_last = 80;
unsigned opt_step = 1;
bool opt_display = true;
bool opt_wait = false;
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// 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_last, opt_step, opt_display, opt_wait) ==
false) {
return EXIT_FAILURE;
}
if (!opt_display)
opt_wait = false; // turn off the waiting
// 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 coming 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() && opt_ppath.empty()) {
usage(argv[0], nullptr, ipath, opt_ppath, opt_first, opt_last, 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;
return EXIT_FAILURE;
}
// 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
unsigned iter = opt_first;
std::ostringstream s;
char cfilename[FILENAME_MAX];
if (opt_ppath.empty()) {
// Warning : the daset is available https://visp.inria.fr/download/
dirname = vpIoTools::createFilePath(ipath, "cube");
// Build the name of the image file
s.setf(std::ios::right, std::ios::adjustfield);
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
filename = vpIoTools::createFilePath(dirname, s.str());
}
else {
snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
filename = cfilename;
}
// Read image named "filename" and put the bitmap in I
try {
vpImageIo::read(I, filename);
}
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;
return EXIT_FAILURE;
}
#if defined(VISP_HAVE_GTK)
#elif defined(VISP_HAVE_X11)
#elif defined(VISP_HAVE_GDI)
#endif
if (opt_display) {
// We open a window using either X11 or GTK or GDI.
// Its 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 longer necessary to make a reference to the
// display variable.
}
// this is the loop over the image sequence
while (iter < opt_last) {
double tms = vpTime::measureTimeMs();
// set the new image name
if (opt_ppath.empty()) {
s.str("");
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
filename = vpIoTools::createFilePath(dirname, s.str());
}
else {
snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
filename = cfilename;
}
std::cout << "read : " << filename << std::endl;
// read the image
vpImageIo::read(I, filename);
if (opt_display) {
// Display the image
// Flush the display
}
if (opt_wait) {
std::cout << "A click in the image to continue..." << std::endl;
// Wait for a blocking mouse click
}
else {
// Synchronise the loop to 40 ms
vpTime::wait(tms, 40);
}
iter += opt_step;
}
// double tms_2 = vpTime::measureTimeMs() ;
// double tms_total = tms_2 - tms_1 ;
// std::cout << "Total Time : "<< tms_total<<std::endl;
return EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have X11, or GDI (Graphical Device Interface), or GTK 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
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:128
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:128
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
Definition: vpException.h:59
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:143
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1832
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:2195
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()