Visual Servoing Platform  version 3.6.1 under development (2024-12-07)
testTrackDot.cpp

Test dot tracking on an image sequence by using vpDot.

/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 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:
* Test auto detection of dots.
*/
#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))
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#ifdef VISP_HAVE_MODULE_FEATURES
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureEllipse.h>
#endif
// List of allowed command line options
#define GETOPTARGS "cdi:h"
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam, std::string ipath);
void usage(const char *name, const char *badparam, std::string ipath)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
fprintf(stdout, "\n\
Test dot tracking.\n\
\n\
SYNOPSIS\n\
%s [-i <input image path>] [-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 image \n\
\"ellipse/ellipse.%s\"\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-c\n\
Disable the mouse click. Useful to automate the \n\
execution of this program without human intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-h\n\
Print the help.\n",
ipath.c_str(), ext.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, 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 'h':
usage(argv[0], nullptr, ipath);
return false;
break;
default:
usage(argv[0], optarg_, ipath);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], nullptr, ipath);
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 dirname;
std::string filename;
bool opt_click_allowed = true;
bool opt_display = true;
#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_click_allowed, opt_display) == false) {
return EXIT_FAILURE;
}
// 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()) {
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], nullptr, ipath);
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;
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
// Set the path location of the image sequence
dirname = vpIoTools::createFilePath(ipath, "ellipse");
// Build the name of the image file
filename = vpIoTools::createFilePath(dirname, "ellipse." + ext);
// Read image named "filename" and put the bitmap in I
try {
vpCTRACE << "Load: " << filename << std::endl;
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 VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
return EXIT_FAILURE;
}
// We open a window using either X11, GTK or GDI.
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI 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 longer necessary to make a reference to the
// display variable.
// Flush the display
}
vpDot2 dot;
std::cout << "debut 1\n";
// dot.setMaxDotSize(0.50); // dot max size = 50% of the image size
ip.set_i(140);
ip.set_j(140);
dot.initTracking(I, ip);
if (opt_display) {
dot.setGraphics(true);
}
else {
dot.setGraphics(false);
}
dot.setComputeMoments(true);
dot.track(I);
#ifdef VISP_HAVE_MODULE_FEATURES
#endif
if (opt_display) {
#ifdef VISP_HAVE_MODULE_FEATURES
e.display(cam, I, vpColor::red);
#endif
if (opt_click_allowed) {
std::cout << "A click to exit..." << std::endl;
}
}
return EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
return EXIT_FAILURE;
}
}
#else
int main() { vpERROR_TRACE("You do not have X11, GTK or GDI display functionalities..."); }
#endif
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:130
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:133
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)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:125
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
Definition: vpDot2.cpp:452
void setGraphics(bool activate)
Definition: vpDot2.h:318
void setComputeMoments(bool activate)
Definition: vpDot2.h:276
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Definition: vpDot2.cpp:269
error that can be emitted by ViSP classes.
Definition: vpException.h:60
const char * getMessage() const
Definition: vpException.cpp:65
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpImagePoint &t)
Class that defines 2D ellipse visual feature.
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const VP_OVERRIDE
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:147
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
void set_j(double jj)
Definition: vpImagePoint.h:309
void set_i(double ii)
Definition: vpImagePoint.h:298
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1053
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1427
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:70