Visual Servoing Platform version 3.6.0
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trackMeCircle.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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*****************************************************************************/
35
48#include <visp3/core/vpConfig.h>
49
50#include <iomanip>
51#include <sstream>
52#include <stdio.h>
53#include <stdlib.h>
54
55#if defined(VISP_HAVE_MODULE_ME) && \
56 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
57
58#include <visp3/core/vpColor.h>
59#include <visp3/core/vpImage.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>
64#include <visp3/io/vpImageIo.h>
65
66#include <visp3/core/vpIoTools.h>
67#include <visp3/io/vpParseArgv.h>
68#include <visp3/me/vpMeEllipse.h>
69
70// List of allowed command line options
71#define GETOPTARGS "cdi:h"
72
73void usage(const char *name, const char *badparam, std::string ipath);
74bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display);
75
85void usage(const char *name, const char *badparam, std::string ipath)
86{
87#if VISP_HAVE_DATASET_VERSION >= 0x030600
88 std::string ext("png");
89#else
90 std::string ext("pgm");
91#endif
92 fprintf(stdout, "\n\
93Test auto detection of dots using vpDot2.\n\
94\n\
95SYNOPSIS\n\
96 %s [-i <input image path>] [-c] [-d] [-h]\n",
97 name);
98
99 fprintf(stdout, "\n\
100OPTIONS: Default\n\
101 -i <input image path> %s\n\
102 Set image input path.\n\
103 From this path read \"circle/circle.%s\"\n\
104 image. \n\
105 Setting the VISP_INPUT_IMAGE_PATH environment\n\
106 variable produces the same behaviour than using\n\
107 this option.\n\
108\n\
109 -c\n\
110 Disable the mouse click. Useful to automate the \n\
111 execution of this program without human intervention.\n\
112\n\
113 -d \n\
114 Turn off the display.\n\
115\n\
116 -h\n\
117 Print the help.\n",
118 ipath.c_str(), ext.c_str());
119
120 if (badparam)
121 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
122}
136bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display)
137{
138 const char *optarg_;
139 int c;
140 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
141
142 switch (c) {
143 case 'c':
144 click_allowed = false;
145 break;
146 case 'd':
147 display = false;
148 break;
149 case 'i':
150 ipath = optarg_;
151 break;
152 case 'h':
153 usage(argv[0], NULL, ipath);
154 return false;
155 break;
156
157 default:
158 usage(argv[0], optarg_, ipath);
159 return false;
160 break;
161 }
162 }
163
164 if ((c == 1) || (c == -1)) {
165 // standalone param or error
166 usage(argv[0], NULL, ipath);
167 std::cerr << "ERROR: " << std::endl;
168 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
169 return false;
170 }
171
172 return true;
173}
174
175int main(int argc, const char **argv)
176{
177#if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)
178 try {
179 std::string env_ipath;
180 std::string opt_ipath;
181 std::string ipath;
182 std::string dirname;
183 std::string filename;
184 bool opt_click_allowed = true;
185 bool opt_display = true;
186
187#if VISP_HAVE_DATASET_VERSION >= 0x030600
188 std::string ext("png");
189#else
190 std::string ext("pgm");
191#endif
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) == false) {
203 return EXIT_FAILURE;
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 return EXIT_FAILURE;
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 will
234 // read on the disk
236
237 // Set the path location of the image sequence
238 dirname = vpIoTools::createFilePath(ipath, "circle");
239
240 // Build the name of the image file
241 filename = vpIoTools::createFilePath(dirname, "circle." + ext);
242
243 // Read the image into the image structure I. I is initialized to the correct size
244 // vpImageIo::read() may throw various exception if, for example,
245 // the file does not exist, or if the memory cannot be allocated
246 try {
247 vpCTRACE << "Load: " << filename << std::endl;
248
249 vpImageIo::read(I, filename);
250 }
251 catch (...) {
252 // If an exception is throwned it is catched here and will result in the end of the program.
253 // Note that another error message can be printed from vpImageIo::read() to give more
254 // information about the error
255 std::cerr << std::endl << "ERROR:" << std::endl;
256 std::cerr << " Cannot read " << filename << std::endl;
257 std::cerr << " Check your -i " << ipath << " option " << std::endl
258 << " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
259 return EXIT_FAILURE;
260 }
261
262 // We open a window using either X11, GTK or GDI.
263#if defined(VISP_HAVE_X11)
264 vpDisplayX display;
265#elif defined(VISP_HAVE_GTK)
266 vpDisplayGTK display;
267#elif defined(VISP_HAVE_GDI)
268 vpDisplayGDI display;
269#elif defined(HAVE_OPENCV_HIGHGUI)
270 vpDisplayOpenCV display;
271#endif
272
273 if (opt_display) {
274 // Display size is automatically defined by the image (I) size
275 display.init(I, 100, 100, "Display...");
276 // Display the image
277 // The image class has a member that specify a pointer toward
278 // the display that has been initialized in the display declaration
279 // therefore is is no longer necessary to make a reference to the
280 // display variable.
283 }
284
285 vpMeEllipse E1;
286
287 vpMe me;
288 me.setRange(20);
289 me.setSampleStep(2);
291 me.setThreshold(20);
292
293 E1.setMe(&me);
295 // If click is allowed, wait for a mouse click to select the points
296 // on the ellipse
297 if (opt_display && opt_click_allowed) {
298 E1.initTracking(I);
299 }
300 else {
301 // Create a list of points to automate the test
302 std::vector<vpImagePoint> ip;
303 ip.push_back(vpImagePoint(78, 203));
304 ip.push_back(vpImagePoint(62, 125));
305 ip.push_back(vpImagePoint(128, 101));
306 ip.push_back(vpImagePoint(167, 147));
307 ip.push_back(vpImagePoint(147, 200));
308
309 E1.initTracking(I, ip);
310 }
311
312 if (opt_display) {
313 E1.display(I, vpColor::green);
315 }
316
317 vpTRACE("sample step %f ", E1.getMe()->getSampleStep());
318 std::cout << "Tracking on image: " << filename << std::endl;
319 E1.track(I);
320 if (opt_display) {
322 }
323
324 if (opt_display && opt_click_allowed) {
325 std::cout << "A click to exit..." << std::endl;
327 }
328 std::cout << "------------------------------------------------------------" << std::endl;
329 return EXIT_SUCCESS;
330 }
331 catch (const vpException &e) {
332 std::cout << "Catch an exception: " << e << std::endl;
333 return EXIT_FAILURE;
334 }
335#else
336 (void)argc;
337 (void)argv;
338 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
339#endif
340}
341#else
342#include <iostream>
343
344int main()
345{
346 std::cout << "visp_me module or X11, GTK, GDI or OpenCV display "
347 "functionalities are required..."
348 << std::endl;
349 return EXIT_SUCCESS;
350}
351
352#endif
static const vpColor green
Definition vpColor.h:214
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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:132
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 emitted by ViSP classes.
Definition vpException.h:59
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 ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
static std::string getViSPImagesDataPath()
static std::string createFilePath(const std::string &parent, const std::string &child)
Class that tracks an ellipse using moving edges.
Definition vpMeEllipse.h:90
void display(const vpImage< unsigned char > &I, const vpColor &col, unsigned int thickness=1)
void initTracking(const vpImage< unsigned char > &I, bool trackCircle=false, bool trackArc=false)
void track(const vpImage< unsigned char > &I)
@ RANGE_RESULT
Definition vpMeSite.h:75
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
vpMe * getMe()
void setMe(vpMe *p_me)
Definition vpMe.h:122
void setSampleStep(const double &s)
Definition vpMe.h:390
void setRange(const unsigned int &r)
Definition vpMe.h:383
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
Definition vpMe.h:445
double getSampleStep() const
Definition vpMe.h:397
@ NORMALIZED_THRESHOLD
Easy-to-use normalized likelihood threshold corresponding to the minimal luminance contrast to consid...
Definition vpMe.h:132
void setThreshold(const double &t)
Definition vpMe.h:435
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
#define vpCTRACE
Definition vpDebug.h:333
#define vpTRACE
Definition vpDebug.h:411