Visual Servoing Platform version 3.5.0
trackMeLine.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 a line.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
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/me/vpMeLine.h>
72
73#include <visp3/visual_features/vpFeatureBuilder.h>
74#include <visp3/visual_features/vpFeatureLine.h>
75
76#include <visp3/core/vpIoTools.h>
77#include <visp3/io/vpParseArgv.h>
78
79// List of allowed command line options
80#define GETOPTARGS "cdi:h"
81
82void usage(const char *name, const char *badparam, std::string ipath);
83bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
84
94void usage(const char *name, const char *badparam, std::string ipath)
95{
96 fprintf(stdout, "\n\
97Tracking of a line.\n\
98\n\
99SYNOPSIS\n\
100 %s [-i <input image path>] [-c] [-d] [-h]\n", name);
101
102 fprintf(stdout, "\n\
103OPTIONS: Default\n\
104 -i <input image path> %s\n\
105 Set image input path.\n\
106 From this path read \"line/image.%%04d.pgm\"\n\
107 images. \n\
108 Setting the VISP_INPUT_IMAGE_PATH environment\n\
109 variable produces the same behaviour than using\n\
110 this option.\n\
111\n\
112 -c\n\
113 Disable the mouse click. Useful to automaze the \n\
114 execution of this program without humain intervention.\n\
115\n\
116 -d \n\
117 Turn off the display.\n\
118\n\
119 -h\n\
120 Print the help.\n", ipath.c_str());
121
122 if (badparam)
123 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
124}
138bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
139{
140 const char *optarg_;
141 int c;
142 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
143
144 switch (c) {
145 case 'c':
146 click_allowed = false;
147 break;
148 case 'd':
149 display = false;
150 break;
151 case 'i':
152 ipath = optarg_;
153 break;
154 case 'h':
155 usage(argv[0], NULL, ipath);
156 return false;
157 break;
158
159 default:
160 usage(argv[0], optarg_, ipath);
161 return false;
162 break;
163 }
164 }
165
166 if ((c == 1) || (c == -1)) {
167 // standalone param or error
168 usage(argv[0], NULL, ipath);
169 std::cerr << "ERROR: " << std::endl;
170 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
171 return false;
172 }
173
174 return true;
175}
176
177int main(int argc, const char **argv)
178{
179#if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)
180 try {
181 std::string env_ipath;
182 std::string opt_ipath;
183 std::string ipath;
184 std::string dirname;
185 std::string filename;
186 bool opt_click_allowed = true;
187 bool opt_display = true;
188
189 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
190 // environment variable value
192
193 // Set the default input path
194 if (!env_ipath.empty())
195 ipath = env_ipath;
196
197 // Read the command line options
198 if (getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display) == false) {
199 exit(-1);
200 }
201
202 // Get the option values
203 if (!opt_ipath.empty())
204 ipath = opt_ipath;
205
206 // Compare ipath and env_ipath. If they differ, we take into account
207 // the input path comming from the command line option
208 if (!opt_ipath.empty() && !env_ipath.empty()) {
209 if (ipath != env_ipath) {
210 std::cout << std::endl << "WARNING: " << std::endl;
211 std::cout << " Since -i <visp image path=" << ipath << "> "
212 << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
213 << " we skip the environment variable." << std::endl;
214 }
215 }
216
217 // Test if an input path is set
218 if (opt_ipath.empty() && env_ipath.empty()) {
219 usage(argv[0], NULL, ipath);
220 std::cerr << std::endl << "ERROR:" << std::endl;
221 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
222 << " environment variable to specify the location of the " << std::endl
223 << " image path where test images are located." << std::endl
224 << std::endl;
225 exit(-1);
226 }
227
228 // Declare an image, this is a gray level image (unsigned char)
229 // it size is not defined yet, it will be defined when the image will
230 // read on the disk
232
233 // Set the path location of the image sequence
234 dirname = vpIoTools::createFilePath(ipath, "line");
235
236 // Build the name of the image file
237 unsigned int iter = 1; // Image number
238 std::ostringstream s;
239 s.setf(std::ios::right, std::ios::adjustfield);
240 s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
241 filename = vpIoTools::createFilePath(dirname, s.str());
242
243 // Read the PGM image named "filename" on the disk, and put the
244 // bitmap into the image structure I. I is initialized to the
245 // correct size
246 //
247 // exception readPGM may throw various exception if, for example,
248 // the file does not exist, or if the memory cannot be allocated
249 try {
250 vpCTRACE << "Load: " << filename << std::endl;
251
252 vpImageIo::read(I, filename);
253 } catch (...) {
254 // an exception is throwned if an exception from readPGM has been
255 // catched here this will result in the end of the program Note that
256 // another error message has been printed from readPGM to give more
257 // information about the error
258 std::cerr << std::endl << "ERROR:" << std::endl;
259 std::cerr << " Cannot read " << filename << std::endl;
260 std::cerr << " Check your -i " << ipath << " option " << std::endl
261 << " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
262 exit(-1);
263 }
264
265// We open a window using either X11, GTK or GDI.
266#if defined VISP_HAVE_X11
267 vpDisplayX display;
268#elif defined VISP_HAVE_GTK
269 vpDisplayGTK display;
270#elif defined VISP_HAVE_GDI
271 vpDisplayGDI display;
272#elif defined VISP_HAVE_OPENCV
273 vpDisplayOpenCV display;
274#endif
275
276 if (opt_display) {
277 // Display size is automatically defined by the image (I) size
278 display.init(I, 100, 100, "Display...");
279 // Display the image
280 // The image class has a member that specify a pointer toward
281 // the display that has been initialized in the display declaration
282 // therefore is is no longuer necessary to make a reference to the
283 // display variable.
286 }
287
288 vpMeLine L1;
289
290 vpMe me;
291 me.setRange(15);
292 me.setPointsToTrack(160);
293 me.setThreshold(15000);
294
295 L1.setMe(&me);
297
298 if (opt_display && opt_click_allowed)
299 L1.initTracking(I);
300 else {
301 vpImagePoint ip1, ip2;
302 ip1.set_i(96);
303 ip1.set_j(191);
304 ip2.set_i(122);
305 ip2.set_j(211);
306 L1.initTracking(I, ip1, ip2);
307 }
308
309 if (opt_display)
310 L1.display(I, vpColor::green);
311
312 L1.track(I);
313 if (opt_display && opt_click_allowed) {
314 std::cout << "A click to continue..." << std::endl;
316 }
317 std::cout << "----------------------------------------------------------" << std::endl;
318
320
323 for (iter = 1; iter < 30; iter++) {
324 std::cout << "----------------------------------------------------------" << std::endl;
325 // set the new image name
326 s.str("");
327 s << "image." << std::setw(4) << std::setfill('0') << iter << ".pgm";
328 filename = vpIoTools::createFilePath(dirname, s.str());
329 // read the image
330 vpImageIo::read(I, filename);
331 if (opt_display) {
332 // Display the image
334 }
335
336 std::cout << "Tracking on image: " << filename << std::endl;
337 L1.track(I);
338
339 vpTRACE("L1 : %f %f", L1.getRho(), vpMath::deg(L1.getTheta()));
340 vpFeatureBuilder::create(l, cam, L1);
341 vpTRACE("L1 : %f %f", l.getRho(), vpMath::deg(l.getTheta()));
342
343 if (opt_display) {
344 L1.display(I, vpColor::green);
346 if (opt_click_allowed) {
347 std::cout << "A click to continue..." << std::endl;
349 }
350 }
351 }
352 if (opt_display && opt_click_allowed) {
353 std::cout << "A click to exit..." << std::endl;
355 }
356 return EXIT_SUCCESS;
357 } catch (const vpException &e) {
358 std::cout << "Catch an exception: " << e << std::endl;
359 return EXIT_FAILURE;
360 }
361#else
362 (void)argc;
363 (void)argv;
364 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
365#endif
366}
367
368#else
369#include <iostream>
370
371int main()
372{
373 std::cout << "visp_me module or X11, GTK, GDI or OpenCV display "
374 "functionalities are required..."
375 << std::endl;
376 return EXIT_SUCCESS;
377}
378
379#endif
Generic class defining intrinsic camera parameters.
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 create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D line visual feature which is composed by two parameters that are and ,...
double getTheta() const
double getRho() const
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
void set_j(double jj)
Definition: vpImagePoint.h:177
void set_i(double ii)
Definition: vpImagePoint.h:166
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
static double deg(double rad)
Definition: vpMath.h:103
Class that tracks in an image a line moving edges.
Definition: vpMeLine.h:152
void display(const vpImage< unsigned char > &I, vpColor col)
Definition: vpMeLine.cpp:224
void track(const vpImage< unsigned char > &Im)
Definition: vpMeLine.cpp:746
double getRho() const
Definition: vpMeLine.cpp:955
double getTheta() const
Definition: vpMeLine.cpp:960
void initTracking(const vpImage< unsigned char > &I)
Definition: vpMeLine.cpp:236
@ RANGE_RESULT
Definition: vpMeSite.h:74
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
Definition: vpMeTracker.h:152
void setMe(vpMe *p_me)
Definition: vpMeTracker.h:173
Definition: vpMe.h:61
void setRange(const unsigned int &r)
Definition: vpMe.h:271
void setPointsToTrack(const int &n)
Definition: vpMe.h:264
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 vpTRACE
Definition: vpDebug.h:416