ViSP
testTrackDot.cpp
1 /****************************************************************************
2  *
3  * $Id: testTrackDot.cpp 4814 2014-07-31 11:38:39Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Test auto detection of dots.
36  *
37  * Authors:
38  * Eric Marchand
39  * Fabien Spindler
40  *
41  *****************************************************************************/
42 
43 
44 
45 #include <visp/vpDebug.h>
46 #include <visp/vpConfig.h>
47 #include <stdlib.h>
48 #include <stdio.h>
49 #include <sstream>
50 #include <iomanip>
51 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
52 
53 #include <visp/vpImage.h>
54 #include <visp/vpImageIo.h>
55 #include <visp/vpDisplayX.h>
56 #include <visp/vpDisplayGTK.h>
57 #include <visp/vpDisplayGDI.h>
58 #include <visp/vpDot2.h>
59 #include <visp/vpFeatureEllipse.h>
60 #include <visp/vpCameraParameters.h>
61 #include <visp/vpFeatureBuilder.h>
62 #include <visp/vpParseArgv.h>
63 #include <visp/vpIoTools.h>
64 
71 // List of allowed command line options
72 #define GETOPTARGS "cdi:h"
73 
74 bool getOptions(int argc, const char **argv, std::string &ipath,
75  bool &click_allowed, bool &display);
76 
77 void usage(const char *name, const char *badparam, std::string ipath);
87 void usage(const char *name, const char *badparam, std::string ipath)
88 {
89  fprintf(stdout, "\n\
90 Test dot tracking.\n\
91 \n\
92 SYNOPSIS\n\
93  %s [-i <input image path>] [-c] [-d] [-h]\n", name);
94 
95  fprintf(stdout, "\n\
96 OPTIONS: Default\n\
97  -i <input image path> %s\n\
98  Set image input path.\n\
99  From this path read image \n\
100  \"ViSP-images/ellipse/ellipse.pgm\"\n\
101  Setting the VISP_INPUT_IMAGE_PATH environment\n\
102  variable produces the same behaviour than using\n\
103  this option.\n\
104 \n\
105  -c\n\
106  Disable the mouse click. Useful to automaze the \n\
107  execution of this program without humain intervention.\n\
108 \n\
109  -d \n\
110  Turn off the display.\n\
111 \n\
112  -h\n\
113  Print the help.\n",
114  ipath.c_str());
115 
116  if (badparam)
117  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
118 
119 }
132 bool getOptions(int argc, const char **argv, std::string &ipath,
133  bool &click_allowed, bool &display)
134 {
135  const char *optarg_;
136  int c;
137  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
138 
139  switch (c) {
140  case 'c': click_allowed = false; break;
141  case 'd': display = false; break;
142  case 'i': ipath = optarg_; break;
143  case 'h': usage(argv[0], NULL, ipath); return false; break;
144 
145  default:
146  usage(argv[0], optarg_, ipath);
147  return false; break;
148  }
149  }
150 
151  if ((c == 1) || (c == -1)) {
152  // standalone param or error
153  usage(argv[0], NULL, ipath);
154  std::cerr << "ERROR: " << std::endl;
155  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
156  return false;
157  }
158 
159  return true;
160 }
161 
162 
163 int
164 main(int argc, const char ** argv)
165 {
166  try {
167  std::string env_ipath;
168  std::string opt_ipath;
169  std::string ipath;
170  std::string dirname;
171  std::string filename;
172  bool opt_click_allowed = true;
173  bool opt_display = true;
174 
175  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH environment variable value
176  env_ipath = vpIoTools::getViSPImagesDataPath();
177 
178  // Set the default input path
179  if (! env_ipath.empty())
180  ipath = env_ipath;
181 
182 
183  // Read the command line options
184  if (getOptions(argc, argv, opt_ipath,
185  opt_click_allowed, opt_display) == false) {
186  exit (-1);
187  }
188 
189  // Get the option values
190  if (!opt_ipath.empty())
191  ipath = opt_ipath;
192 
193  // Compare ipath and env_ipath. If they differ, we take into account
194  // the input path comming from the command line option
195  if (!opt_ipath.empty() && !env_ipath.empty()) {
196  if (ipath != env_ipath) {
197  std::cout << std::endl
198  << "WARNING: " << std::endl;
199  std::cout << " Since -i <visp image path=" << ipath << "> "
200  << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
201  << " we skip the environment variable." << std::endl;
202  }
203  }
204 
205  // Test if an input path is set
206  if (opt_ipath.empty() && env_ipath.empty()){
207  usage(argv[0], NULL, ipath);
208  std::cerr << std::endl
209  << "ERROR:" << std::endl;
210  std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
211  << std::endl
212  << " environment variable to specify the location of the " << std::endl
213  << " image path where test images are located." << std::endl << std::endl;
214  exit(-1);
215  }
216 
217 
218  // Declare an image, this is a gray level image (unsigned char)
219  // it size is not defined yet, it will be defined when the image will
220  // read on the disk
222 
223  // Set the path location of the image sequence
224  dirname = vpIoTools::createFilePath(ipath, "ViSP-images/ellipse");
225 
226  // Build the name of the image file
227  filename = vpIoTools::createFilePath(dirname, "ellipse.pgm");
228 
229  // Read the PGM image named "filename" on the disk, and put the
230  // bitmap into the image structure I. I is initialized to the
231  // correct size
232  //
233  // exception readPGM may throw various exception if, for example,
234  // the file does not exist, or if the memory cannot be allocated
235  try{
236  vpCTRACE << "Load: " << filename << std::endl;
237 
238  vpImageIo::read(I, filename) ;
239  }
240  catch(...)
241  {
242  // an exception is throwned if an exception from readPGM has been catched
243  // here this will result in the end of the program
244  // Note that another error message has been printed from readPGM
245  // to give more information about the error
246  std::cerr << std::endl
247  << "ERROR:" << std::endl;
248  std::cerr << " Cannot read " << filename << std::endl;
249  std::cerr << " Check your -i " << ipath << " option " << std::endl
250  << " or VISP_INPUT_IMAGE_PATH environment variable."
251  << std::endl;
252  exit(-1);
253  }
254 
255  // We open a window using either X11, GTK or GDI.
256 #if defined VISP_HAVE_X11
257  vpDisplayX display;
258 #elif defined VISP_HAVE_GTK
259  vpDisplayGTK display;
260 #elif defined VISP_HAVE_GDI
261  vpDisplayGDI display;
262 #endif
263 
264  if (opt_display) {
265  // Display size is automatically defined by the image (I) size
266  display.init(I, 100, 100,"Display...") ;
267  // Display the image
268  // The image class has a member that specify a pointer toward
269  // the display that has been initialized in the display declaration
270  // therefore is is no longuer necessary to make a reference to the
271  // display variable.
272  vpDisplay::display(I) ;
273  //Flush the display
274  vpDisplay::flush(I) ;
275  }
276 
277  vpDot2 dot ;
278  std::cout << "debut 1\n";
279  //dot.setMaxDotSize(0.50); // dot max size = 50% of the image size
280  vpImagePoint ip;
281  ip.set_i( 140 );
282  ip.set_j( 140 );
283  dot.initTracking(I, ip);
284  if (opt_display) {
285  dot.setGraphics(true) ;
286  }
287  else {
288  dot.setGraphics(false) ;
289  }
290  dot.setComputeMoments(true);
291  dot.track(I) ;
292 
293  vpFeatureEllipse e ;
294 
295  vpCameraParameters cam ;
296  vpFeatureBuilder::create(e,cam,dot) ;
297  if (opt_display) {
298  e.display(cam, I, vpColor::red) ;
299  vpDisplay::flush(I);
300  if (opt_click_allowed) {
301  std::cout << "A click to exit..." << std::endl;
303  }
304  }
305  return 0;
306  }
307  catch(vpException e) {
308  std::cout << "Catch an exception: " << e << std::endl;
309  return 1;
310  }
311 }
312 #else
313 int
314 main()
315 {
316  vpERROR_TRACE("You do not have X11, GTK or GDI display functionalities...");
317 }
318 
319 #endif
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1071
#define vpERROR_TRACE
Definition: vpDebug.h:395
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:132
Define the X11 console to display images.
Definition: vpDisplayX.h:152
error that can be emited by ViSP classes.
Definition: vpException.h:76
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:127
void track(const vpImage< unsigned char > &I)
Definition: vpDot2.cpp:465
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:2232
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:80
static const vpColor red
Definition: vpColor.h:167
#define vpCTRACE
Definition: vpDebug.h:341
void set_i(const double ii)
Definition: vpImagePoint.h:159
static std::string createFilePath(const std::string &parent, const std::string child)
Definition: vpIoTools.cpp:1245
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:210
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
Definition: vpDisplayGTK.h:145
void setComputeMoments(const bool activate)
Definition: vpDot2.h:274
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
void set_j(const double jj)
Definition: vpImagePoint.h:170
void display(const vpCameraParameters &cam, const vpImage< unsigned char > &I, const vpColor &color=vpColor::green, unsigned int thickness=1) const
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Definition: vpDot2.cpp:266
virtual bool getClick(bool blocking=true)=0
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:93
Class that defines 2D ellipse visual feature.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
static void read(vpImage< unsigned char > &I, const char *filename)
Definition: vpImageIo.cpp:278
void setGraphics(const bool activate)
Definition: vpDot2.h:312