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
    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_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
    vpImage<unsigned char> I;
 
    // 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.
      vpDisplay::display(I);
      // Flush the display
      vpDisplay::flush(I);
    }
 
    vpDot2 dot;
    std::cout << "debut 1\n";
    // dot.setMaxDotSize(0.50); // dot max size = 50% of the image size
    vpImagePoint ip;
    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);
 
    vpCameraParameters cam;
 
#ifdef VISP_HAVE_MODULE_FEATURES
    vpFeatureEllipse e;
    vpFeatureBuilder::create(e, cam, dot);
#endif
    if (opt_display) {
#ifdef VISP_HAVE_MODULE_FEATURES
      e.display(cam, I, vpColor::red);
#endif
      vpDisplay::flush(I);
      if (opt_click_allowed) {
        std::cout << "A click to exit..." << std::endl;
        vpDisplay::getClick(I);
      }
    }
    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