#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_MODULE_BLOB) && defined(VISP_HAVE_DISPLAY)
#include <visp3/blob/vpDot.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#define GETOPTARGS "cdf:hi:l:p:s:"
#ifdef ENABLE_VISP_NAMESPACE
#endif
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\
Test dot tracking.\n\
\n\
SYNOPSIS\n\
%s [-i <test image path>] [-p <personal image path>]\n\
[-f <first image>] [-l <last image>] [-s <step>]\n\
[-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.%s\". These \n\
images come from visp-images-x.y.z.tar.gz available \n\
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\
Example : \"C:/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\
-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(), 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 &click_allowed, bool &display)
{
const char *optarg_;
int c;
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 'l':
last = (unsigned)atoi(optarg_);
break;
case 's':
step = (unsigned)atoi(optarg_);
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)) {
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 int opt_first = 1;
unsigned int opt_last = 500;
unsigned int opt_step = 1;
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
if (!env_ipath.empty())
ipath = env_ipath;
if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_last, opt_step, opt_click_allowed,
opt_display) == false) {
return EXIT_FAILURE;
}
if (!opt_ipath.empty())
ipath = opt_ipath;
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;
}
}
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;
}
unsigned iter = opt_first;
std::ostringstream s;
char cfilename[FILENAME_MAX];
if (opt_ppath.empty()) {
s.setf(std::ios::right, std::ios::adjustfield);
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
}
else {
snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
filename = cfilename;
}
try {
std::cout << "Load: " << filename << std::endl;
}
catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot read " << filename << std::endl;
if (opt_ppath.empty()) {
std::cerr << " Check your -i " << ipath << " option " << std::endl
<< " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
}
else {
std::cerr << " Check your -p " << opt_ppath << " option " << std::endl;
}
return EXIT_FAILURE;
}
if (opt_display) {
display->init(I, 100, 100, "Display...");
}
if (opt_display) {
d.setGraphics(true);
}
else {
d.setGraphics(false);
}
d.setComputeMoments(true);
if (opt_display && opt_click_allowed) {
std::cout << "Click on a white dot you want to track..." << std::endl;
d.initTracking(I);
}
else {
d.initTracking(I, ip);
}
bool quit = false;
while ((iter < opt_last) && (!quit)) {
if (opt_ppath.empty()) {
s.str("");
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
}
else {
snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
filename = cfilename;
}
std::cout << "read: " << filename << std::endl;
if (opt_display) {
}
std::cout << "Tracking on image: " << filename << std::endl;
d.track(I);
std::cout << cog.
get_u() <<
" " << cog.
get_v() << std::endl;
std::cout << "Size:" << std::endl;
std::cout << "Area: " << d.getArea() << std::endl;
std::cout << "Centered normalized moments nij:" << std::endl;
std::cout << " n20: " << d.get_nij()[0] << std::endl;
std::cout << " n11: " << d.get_nij()[1] << std::endl;
std::cout << " n02: " << d.get_nij()[2] << std::endl;
if (0) {
std::list<vpImagePoint> edges = d.getEdges();
std::list<vpImagePoint>::const_iterator it;
for (it = edges.begin(); it != edges.end(); ++it) {
}
}
if (opt_display) {
quit = true;
}
}
iter += opt_step;
}
if (opt_display && opt_click_allowed && !quit) {
std::cout << "\nA click to exit..." << std::endl;
}
if (display) {
delete display;
}
return EXIT_SUCCESS;
}
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
#include <iostream>
int main()
{
std::cout << "visp_blob module or X11, GTK, GDI or OpenCV display "
"functionalities are required..."
<< std::endl;
return EXIT_SUCCESS;
}
#endif
static const vpColor blue
Class that defines generic functionalities for display.
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)
unsigned int getHeight() const
static void flush(const vpImage< unsigned char > &I)
static void displayPoint(const vpImage< unsigned char > &I, const vpImagePoint &ip, const vpColor &color, unsigned int thickness=1)
unsigned int getWidth() const
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
This tracker is meant to track a dot (connected pixels with same gray level) on a vpImage.
error that can be emitted by ViSP classes.
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
vpDisplay * allocateDisplay()
Return a newly allocated vpDisplay specialization if a GUI library is available or nullptr otherwise.
VISP_EXPORT double measureTimeMs()