Visual Servoing Platform version 3.5.0
BSpline.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Exemple of a B-Spline curve.
33 *
34 * Authors:
35 * Nicolas Melchior
36 *
37 *****************************************************************************/
50#include <visp3/core/vpDebug.h>
51
52#include <visp3/core/vpBSpline.h>
53
54#include <visp3/core/vpDisplay.h>
55#include <visp3/core/vpImage.h>
56#include <visp3/core/vpImagePoint.h>
57#include <visp3/io/vpImageIo.h>
58#ifdef VISP_HAVE_MODULE_GUI
59#include <visp3/gui/vpDisplayD3D.h>
60#include <visp3/gui/vpDisplayGDI.h>
61#include <visp3/gui/vpDisplayGTK.h>
62#include <visp3/gui/vpDisplayOpenCV.h>
63#include <visp3/gui/vpDisplayX.h> // Should be after #include <visp3/gui/vpDisplayOpenCV.h>
64#endif
65
66#include <cstdlib>
67#include <stdlib.h>
68#include <visp3/core/vpIoTools.h>
69#include <visp3/io/vpParseArgv.h>
70
71#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || \
72 defined(VISP_HAVE_D3D9)
73
74// List of allowed command line options
75#define GETOPTARGS "cdh"
76
77void usage(const char *name, const char *badparam);
78bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display);
79
88void usage(const char *name, const char *badparam)
89{
90 fprintf(stdout, "\n\
91Describe a curve thanks to a BSpline.\n\
92\n\
93SYNOPSIS\n\
94 %s [-c] [-d] [-h]\n", name);
95
96 fprintf(stdout, "\n\
97OPTIONS: Default\n\
98 -c\n\
99 Disable the mouse click. Useful to automaze the \n\
100 execution of this program without humain intervention.\n\
101\n\
102 -d \n\
103 Turn off the display.\n\
104\n\
105 -h\n\
106 Print the help.\n");
107
108 if (badparam)
109 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
110}
111
124bool getOptions(int argc, const char **argv, bool &click_allowed, bool &display)
125{
126 const char *optarg_;
127 int c;
128 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
129
130 switch (c) {
131 case 'c':
132 click_allowed = false;
133 break;
134 case 'd':
135 display = false;
136 break;
137 case 'h':
138 usage(argv[0], NULL);
139 return false;
140 break;
141
142 default:
143 usage(argv[0], optarg_);
144 return false;
145 break;
146 }
147 }
148
149 if ((c == 1) || (c == -1)) {
150 // standalone param or error
151 usage(argv[0], NULL);
152 std::cerr << "ERROR: " << std::endl;
153 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
154 return false;
155 }
156
157 return true;
158}
159
160int main(int argc, const char **argv)
161{
162 try {
163 bool opt_click_allowed = true;
164 bool opt_display = true;
165
166 // Read the command line options
167 if (getOptions(argc, argv, opt_click_allowed, opt_display) == false) {
168 exit(-1);
169 }
170
171 // Declare an image, this is a gray level image (unsigned char)
172 // it size is not defined yet, it will be defined when the image will
173 // read on the disk
174 vpImage<unsigned char> I(540, 480);
175
176// We open a window using either X11, GTK or GDI.
177
178#ifdef VISP_HAVE_MODULE_GUI
179#if defined VISP_HAVE_X11
180 vpDisplayX display;
181#elif defined VISP_HAVE_GTK
182 vpDisplayGTK display;
183#elif defined VISP_HAVE_GDI
184 vpDisplayGDI display;
185#elif defined VISP_HAVE_OPENCV
186 vpDisplayOpenCV display;
187#elif defined VISP_HAVE_D3D9
188 vpDisplayD3D display;
189#endif
190
191 if (opt_display) {
192 // Display size is automatically defined by the image (I) size
193 display.init(I, 100, 100, "Display image");
196 }
197#endif
198
199 vpBSpline bSpline;
200 std::list<double> knots;
201 knots.push_back(0);
202 knots.push_back(0);
203 knots.push_back(0);
204 knots.push_back(1);
205 knots.push_back(2);
206 knots.push_back(3);
207 knots.push_back(4);
208 knots.push_back(4);
209 knots.push_back(5);
210 knots.push_back(5);
211 knots.push_back(5);
212
213 std::list<vpImagePoint> controlPoints;
214 vpImagePoint pt;
215 pt.set_ij(50, 300);
216 controlPoints.push_back(pt);
217 pt.set_ij(100, 130);
218 controlPoints.push_back(pt);
219 pt.set_ij(150, 400);
220 controlPoints.push_back(pt);
221 pt.set_ij(200, 370);
222 controlPoints.push_back(pt);
223 pt.set_ij(250, 120);
224 controlPoints.push_back(pt);
225 pt.set_ij(300, 250);
226 controlPoints.push_back(pt);
227 pt.set_ij(350, 200);
228 controlPoints.push_back(pt);
229 pt.set_ij(400, 300);
230 controlPoints.push_back(pt);
231
232 bSpline.set_p(2);
233 bSpline.set_knots(knots);
234 bSpline.set_controlPoints(controlPoints);
235
236 std::cout << "The parameters are :" << std::endl;
237 std::cout << "p : " << bSpline.get_p() << std::endl;
238 std::cout << "" << std::endl;
239 std::cout << "The knot vector :" << std::endl;
240 std::list<double> knots_cur;
241 bSpline.get_knots(knots_cur);
242 unsigned int i_display = 0;
243 for (std::list<double>::const_iterator it = knots_cur.begin(); it != knots_cur.end(); ++it, ++i_display) {
244 std::cout << i_display << " ---> " << *it << std::endl;
245 }
246 std::cout << "The control points are :" << std::endl;
247 std::list<vpImagePoint> controlPoints_cur;
248 bSpline.get_controlPoints(controlPoints_cur);
249 i_display = 0;
250 for (std::list<vpImagePoint>::const_iterator it = controlPoints_cur.begin(); it != controlPoints_cur.end();
251 ++it, ++i_display) {
252 std::cout << i_display << " ---> " << *it << std::endl;
253 }
254
255 unsigned int i = bSpline.findSpan(5 / 2.0);
256 std::cout << "The knot interval number for the value u = 5/2 is : " << i << std::endl;
257
258 vpBasisFunction *N = NULL;
259 N = bSpline.computeBasisFuns(5 / 2.0);
260 std::cout << "The nonvanishing basis functions N(u=5/2) are :" << std::endl;
261 for (unsigned int j = 0; j < bSpline.get_p() + 1; j++)
262 std::cout << N[j].value << std::endl;
263
264 vpBasisFunction **N2 = NULL;
265 N2 = bSpline.computeDersBasisFuns(5 / 2.0, 2);
266 std::cout << "The first derivatives of the basis functions N'(u=5/2) are :" << std::endl;
267 for (unsigned int j = 0; j < bSpline.get_p() + 1; j++)
268 std::cout << N2[1][j].value << std::endl;
269
270 std::cout << "The second derivatives of the basis functions N''(u=5/2) are :" << std::endl;
271 for (unsigned int j = 0; j < bSpline.get_p() + 1; j++)
272 std::cout << N2[2][j].value << std::endl;
273
274 if (opt_display && opt_click_allowed) {
275 double u = 0.0;
276 while (u <= 5) {
277 pt = bSpline.computeCurvePoint(u);
279 u += 0.01;
280 }
281 for (std::list<vpImagePoint>::const_iterator it = controlPoints.begin(); it != controlPoints.end(); ++it) {
283 }
286 }
287
288 if (N != NULL)
289 delete[] N;
290 if (N2 != NULL) {
291 for (unsigned int j = 0; j <= 2; j++)
292 delete[] N2[j];
293 delete[] N2;
294 }
295
296 return EXIT_SUCCESS;
297 } catch (const vpException &e) {
298 std::cout << "Catch an exception: " << e << std::endl;
299 return EXIT_FAILURE;
300 }
301}
302
303#else
304int main()
305{
306 std::cout << "You do not have X11, GTK, or OpenCV, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
307 std::cout << "Tip if you are on a unix-like system:" << std::endl;
308 std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
309 std::cout << "Tip if you are on a windows-like system:" << std::endl;
310 std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
311 return EXIT_SUCCESS;
312}
313#endif
Class that provides tools to compute and manipulate a B-Spline curve.
Definition: vpBSpline.h:111
static vpBasisFunction ** computeDersBasisFuns(double l_u, unsigned int l_i, unsigned int l_p, unsigned int l_der, std::vector< double > &l_knots)
Definition: vpBSpline.cpp:234
static vpBasisFunction * computeBasisFuns(double l_u, unsigned int l_i, unsigned int l_p, std::vector< double > &l_knots)
Definition: vpBSpline.cpp:148
void get_controlPoints(std::list< vpImagePoint > &list) const
Definition: vpBSpline.h:140
void set_p(unsigned int degree)
Definition: vpBSpline.h:180
unsigned int get_p() const
Definition: vpBSpline.h:132
static vpImagePoint computeCurvePoint(double l_u, unsigned int l_i, unsigned int l_p, std::vector< double > &l_knots, std::vector< vpImagePoint > &l_controlPoints)
Definition: vpBSpline.cpp:381
void set_controlPoints(const std::list< vpImagePoint > &list)
Definition: vpBSpline.h:187
void get_knots(std::list< double > &list) const
Definition: vpBSpline.h:153
void set_knots(const std::list< double > &list)
Definition: vpBSpline.h:200
static unsigned int findSpan(double l_u, unsigned int l_p, std::vector< double > &l_knots)
Definition: vpBSpline.cpp:84
static const vpColor red
Definition: vpColor.h:217
static const vpColor green
Definition: vpColor.h:220
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Definition: vpDisplayD3D.h:107
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
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)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Definition: vpException.h:72
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
void set_ij(double ii, double jj)
Definition: vpImagePoint.h:188
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69