Visual Servoing Platform version 3.5.0
trackMeEllipse.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 * Tracking of an ellipse.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
51#include <visp3/core/vpConfig.h>
52#include <visp3/core/vpDebug.h>
53
54#include <iomanip>
55#include <sstream>
56#include <stdio.h>
57#include <stdlib.h>
58
59#if defined(VISP_HAVE_MODULE_ME) && \
60 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
61
62#include <visp3/core/vpColor.h>
63#include <visp3/core/vpImage.h>
64#include <visp3/core/vpImagePoint.h>
65#include <visp3/gui/vpDisplayGDI.h>
66#include <visp3/gui/vpDisplayGTK.h>
67#include <visp3/gui/vpDisplayOpenCV.h>
68#include <visp3/gui/vpDisplayX.h>
69#include <visp3/io/vpImageIo.h>
70
71#include <visp3/core/vpIoTools.h>
72#include <visp3/io/vpParseArgv.h>
73#include <visp3/me/vpMeEllipse.h>
74
75// List of allowed command line options
76#define GETOPTARGS "acdi:h"
77
78void usage(const char *name, const char *badparam, std::string ipath);
79bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
80
90void usage(const char *name, const char *badparam, std::string ipath)
91{
92 fprintf(stdout, "\n\
93Example of ellipse or arc of ellipse tracking using vpMeEllipse.\n\
94\n\
95SYNOPSIS\n\
96 %s [-i <input image path>] [-c] [-a] [-h]\n", name);
97
98 fprintf(stdout, "\n\
99OPTIONS: Default\n\
100 -i <input image path> %s\n\
101 Set image input path.\n\
102 From this path read images \n\
103 \"ellipse-1/image.%%04d.pgm\"\n\
104 Setting the VISP_INPUT_IMAGE_PATH environment\n\
105 variable produces the same behaviour than using\n\
106 this option.\n\
107\n\
108 -c\n\
109 Disable the mouse click. Useful to automaze the \n\
110 execution of this program without humain intervention.\n\
111\n\
112 -d \n\
113 Turn off the display.\n\
114\n\
115 -a \n\
116 Enable arc of ellipse tracking.\n\
117\n\
118 -h\n\
119 Print the help.\n", ipath.c_str());
120
121 if (badparam)
122 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
123}
138bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display, bool &trackArc)
139{
140 const char *optarg_;
141 int c;
142 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
143
144 switch (c) {
145 case 'a':
146 trackArc = true;
147 break;
148 case 'c':
149 click_allowed = false;
150 break;
151 case 'd':
152 display = false;
153 break;
154 case 'i':
155 ipath = optarg_;
156 break;
157 case 'h':
158 usage(argv[0], NULL, ipath);
159 return false;
160 break;
161
162 default:
163 usage(argv[0], optarg_, ipath);
164 return false;
165 break;
166 }
167 }
168
169 if ((c == 1) || (c == -1)) {
170 // standalone param or error
171 usage(argv[0], NULL, ipath);
172 std::cerr << "ERROR: " << std::endl;
173 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
174 return false;
175 }
176
177 return true;
178}
179
180int main(int argc, const char **argv)
181{
182#if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)
183 try {
184 std::string env_ipath;
185 std::string opt_ipath;
186 std::string ipath;
187 std::string dirname;
188 std::string filename;
189 bool opt_click_allowed = true;
190 bool opt_display = true;
191 bool opt_track_arc = false;
192
193 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
194 // environment variable value
196
197 // Set the default input path
198 if (!env_ipath.empty())
199 ipath = env_ipath;
200
201 // Read the command line options
202 if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display, opt_track_arc) == false) {
203 exit(-1);
204 }
205
206 // Get the option values
207 if (!opt_ipath.empty())
208 ipath = opt_ipath;
209
210 // Compare ipath and env_ipath. If they differ, we take into account
211 // the input path comming from the command line option
212 if (!opt_ipath.empty() && !env_ipath.empty()) {
213 if (ipath != env_ipath) {
214 std::cout << std::endl << "WARNING: " << std::endl;
215 std::cout << " Since -i <visp image path=" << ipath << "> "
216 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
217 << " we skip the environment variable." << std::endl;
218 }
219 }
220
221 // Test if an input path is set
222 if (opt_ipath.empty() && env_ipath.empty()) {
223 usage(argv[0], NULL, ipath);
224 std::cerr << std::endl << "ERROR:" << std::endl;
225 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
226 << " environment variable to specify the location of the " << std::endl
227 << " image path where test images are located." << std::endl
228 << std::endl;
229 exit(-1);
230 }
231
232 // Declare an image, this is a gray level image (unsigned char)
233 // it size is not defined yet, it will be defined when the image is
234 // read on the disk
236
237 // Set the path location of the image sequence
238 dirname = vpIoTools::createFilePath(ipath, "ellipse-1");
239
240 // Build the name of the image file
241 unsigned int iter = 1; // Image number
242 std::ostringstream s;
243 s.setf(std::ios::right, std::ios::adjustfield);
244 s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
245 filename = vpIoTools::createFilePath(dirname, s.str());
246
247 // Read the PGM image named "filename" on the disk, and put the
248 // bitmap into the image structure I. I is initialized to the
249 // correct size
250 //
251 // exception readPGM may throw various exception if, for example,
252 // the file does not exist, or if the memory cannot be allocated
253 try {
254 vpCTRACE << "Load: " << filename << std::endl;
255
256 vpImageIo::read(I, filename);
257 } catch (...) {
258 // an exception is thrown if an exception from readPGM has been caught
259 // here this will result in the end of the program
260 // Note that another error message has been printed from readPGM
261 // to give more information about the error
262 std::cerr << std::endl << "ERROR:" << std::endl;
263 std::cerr << " Cannot read " << filename << std::endl;
264 std::cerr << " Check your -i " << ipath << " option " << std::endl
265 << " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
266 exit(-1);
267 }
268
269// We open a window using either X11, GTK or GDI.
270#if defined VISP_HAVE_X11
271 vpDisplayX display;
272#elif defined VISP_HAVE_GTK
273 vpDisplayGTK display;
274#elif defined VISP_HAVE_GDI
275 vpDisplayGDI display;
276#elif defined VISP_HAVE_OPENCV
277 vpDisplayOpenCV display;
278#endif
279
280 if (opt_display) {
281 // Display size is automatically defined by the image (I) size
282 display.init(I, 100, 100, "Display...");
283 // Display the image
284 // The image class has a member that specify a pointer toward
285 // the display that has been initialized in the display declaration
286 // therefore is is no longuer necessary to make a reference to the
287 // display variable.
290 }
291
292 vpMeEllipse me_ellipse;
293
294 vpMe me;
295 me.setRange(20);
296 me.setSampleStep(10);
297 me.setThreshold(15000);
298
299 me_ellipse.setMe(&me);
301 if (opt_click_allowed)
302 me_ellipse.initTracking(I, opt_track_arc);
303 else {
304 // Create a list of clockwise points to automate the test
305 std::vector<vpImagePoint> ip;
306 ip.push_back(vpImagePoint(195, 329));
307 ip.push_back(vpImagePoint(243, 164));
308 ip.push_back(vpImagePoint(201, 36));
309 ip.push_back(vpImagePoint(83, 126));
310 ip.push_back(vpImagePoint(33, 276));
311
312 me_ellipse.initTracking(I, ip, opt_track_arc);
313 }
314 if (opt_display) {
315 me_ellipse.display(I, vpColor::green);
316 }
317
318 vpERROR_TRACE("sample step %f ", me_ellipse.getMe()->getSampleStep());
319 if (opt_display && opt_click_allowed) {
320 std::cout << "A click to continue..." << std::endl;
322 }
323 std::cout << "------------------------------------------------------------" << std::endl;
324
325 for (iter = 1; iter < 51; iter++) // initially : iter < 1500
326 {
327 // set the new image name
328 s.str("");
329 s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
330 filename = vpIoTools::createFilePath(dirname, s.str());
331 std::cout << "Tracking on image: " << filename << std::endl;
332 // read the image
333 vpImageIo::read(I, filename);
334 if (opt_display) {
335 // Display the image
337 }
338
339 me_ellipse.track(I);
340
341 if (opt_display) {
342 me_ellipse.display(I, vpColor::green);
344 }
345 }
346 if (opt_display && opt_click_allowed) {
347 std::cout << "A click to exit..." << std::endl;
349 }
350 return EXIT_SUCCESS;
351 } catch (const vpException &e) {
352 std::cout << "Catch an exception: " << e << std::endl;
353 return EXIT_FAILURE;
354 }
355#else
356 (void)argc;
357 (void)argv;
358 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
359#endif
360}
361#else
362#include <iostream>
363
364int main()
365{
366 std::cout << "visp_me module or X11, GTK, GDI or OpenCV display "
367 "functionalities are required..."
368 << std::endl;
369 return EXIT_SUCCESS;
370}
371
372#endif
static const vpColor green
Definition: vpColor.h:220
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 flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
Class that tracks an ellipse using moving edges.
Definition: vpMeEllipse.h:98
void display(const vpImage< unsigned char > &I, vpColor col)
void initTracking(const vpImage< unsigned char > &I, bool trackArc=false)
void track(const vpImage< unsigned char > &I)
@ RANGE_RESULT
Definition: vpMeSite.h:74
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:152
vpMe * getMe()
Definition: vpMeTracker.h:120
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:173
Definition: vpMe.h:61
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
double getSampleStep() const
Definition: vpMe.h:285
void setThreshold(const double &t)
Definition: vpMe.h:300
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
#define vpCTRACE
Definition: vpDebug.h:338
#define vpERROR_TRACE
Definition: vpDebug.h:393