trackMeNurbs.cpp

Tracking of a nurbs using vpMe.

/****************************************************************************
 *
 * 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:
 * Tracking of a nurbs.
 *
*****************************************************************************/
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
 
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
 
#if defined(VISP_HAVE_MODULE_ME) &&                                                                                    \
    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
 
#include <visp3/core/vpColor.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
 
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/me/vpMeNurbs.h>
 
// List of allowed command line options
#define GETOPTARGS "cdi:h"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
void usage(const char *name, const char *badparam, std::string ipath);
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)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
  std::string ext("png");
#else
  std::string ext("pgm");
#endif
  fprintf(stdout, "\n\
Tracking of a nurbs using vpMe.\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 images \n\
     \"ellipse-1/image.%%04d.%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 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 is
    // read on the disk
    vpImage<unsigned char> I;
 
    // Set the path location of the image sequence
    filename = vpIoTools::createFilePath(ipath, "ellipse-1/image.%04d." + ext);
 
    // Build the name of the image file
    vpVideoReader reader;
    // Initialize the reader and get the first frame.
    reader.setFileName(filename.c_str());
    reader.setFirstFrameIndex(1);
    reader.open(I);
 
    // 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;
#elif defined(HAVE_OPENCV_HIGHGUI)
    vpDisplayOpenCV 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);
      vpDisplay::flush(I);
    }
 
    vpMeNurbs nurbs;
 
    vpMe me;
    me.setRange(30);
    me.setSampleStep(5);
    me.setPointsToTrack(60);
    me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
    me.setThreshold(20);
 
    nurbs.setMe(&me);
    nurbs.setDisplay(vpMeSite::RANGE_RESULT);
    nurbs.setNbControlPoints(14);
 
    if (opt_click_allowed) {
      std::cout << "Click on points along the edge with the left button." << std::endl;
      std::cout << "Then click on the right button to continue." << std::endl;
      nurbs.initTracking(I);
    }
    else {
      // Create a list of points to automate the test
      std::list<vpImagePoint> list;
      list.push_back(vpImagePoint(178, 357));
      list.push_back(vpImagePoint(212, 287));
      list.push_back(vpImagePoint(236, 210));
      list.push_back(vpImagePoint(240, 118));
      list.push_back(vpImagePoint(210, 40));
 
      nurbs.initTracking(I, list);
    }
    if (opt_display) {
      nurbs.display(I, vpColor::green);
    }
 
    nurbs.track(I);
    if (opt_display && opt_click_allowed) {
      std::cout << "A click to continue..." << std::endl;
      vpDisplay::getClick(I);
    }
    std::cout << "------------------------------------------------------------" << std::endl;
 
    for (int iter = 1; iter < 40; iter++) {
      // read the image
      reader.getFrame(I, iter);
      if (opt_display) {
        // Display the image
        vpDisplay::display(I);
      }
 
      // Track the nurbs
      nurbs.track(I);
 
      if (opt_display) {
        nurbs.display(I, vpColor::green);
        vpDisplay::flush(I);
        vpTime::wait(100);
      }
    }
    if (opt_display && opt_click_allowed) {
      std::cout << "A click to exit..." << std::endl;
      vpDisplay::getClick(I);
    }
    return EXIT_SUCCESS;
  }
  catch (vpException &e) {
    std::cout << "Catch an exception: " << e.getMessage() << std::endl;
    return EXIT_SUCCESS;
  }
}
#else
#include <iostream>
 
int main()
{
  std::cout << "visp_me module or X11, GTK, GDI or OpenCV display "
    "functionalities are required..."
    << std::endl;
  }
 
#endif