trackMeLine.cpp

Tracking of a line using vpMe.

Tracking of a line using vpMe.

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Tracking of a line.
 */

 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_MODULE_ME) && defined(VISP_HAVE_DISPLAY)
 
#include <visp3/core/vpColor.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/io/vpVideoWriter.h>
#include <visp3/me/vpMeLine.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureLine.h>
 
// List of allowed command line options
#define GETOPTARGS "Acdf:hi:l:p:r:s:S:t:T:vw:y"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
void usage(const char *name, const char *badparam, const std::string &video_in_ipath, const std::string &video_in_ppath,
           unsigned video_in_first, int video_in_last, int video_in_step, int me_range, int me_sample_step,
           int me_threshold, unsigned int &sleep_ms);
bool getOptions(int argc, const char **argv, std::string &video_in_ipath, std::string &video_in_ppath,
                int &video_in_first, int &video_in_last, int &video_in_step,
                bool &click_allowed, bool &display, bool &display_scale_auto,
                std::string &video_out_save, int &me_range, int &me_sample_step, int &me_threshold, bool &step_by_step,
                unsigned int &sleep_ms, bool &verbose);

void usage(const char *name, const char *badparam, const std::string &video_in_ipath, const std::string &video_in_ppath,
           unsigned video_in_first, int video_in_last, int video_in_step, int me_range, int me_sample_step,
           int me_threshold, unsigned int &sleep_ms)
{
#if defined(VISP_HAVE_DATASET)
#if VISP_HAVE_DATASET_VERSION >= 0x030600
  std::string ext("png");
#else
  std::string ext("pgm");
#endif
#else
  // We suppose that the user will download a recent dataset
  std::string ext("png");
#endif
  fprintf(stdout, "\n\
Tracking of a line.\n\
\n\
SYNOPSIS\n\
  %s [-i <visp dataset directory>] [-p <personal image path>]\n\
     [-f <video first image>] [-l <video last image>] [-s <video step>]\n\
     [-r <moving-edge range] [-t <moving-edge threshold] [-S <moving-edge sample step>]\n\
     [-w <output images sequence name>] [-T <sleep ms>]\n\
     [-c] [-d] [-A] [-y] [-v] [-h]\n", name);
 
  fprintf(stdout, "\n\
OPTIONS:                                                   Default\n\
  -i <visp dataset directory>                                %s\n\
     Set image input path.\n\
     From this path read \"line/image.%%04d.%s\" images. \n\
     Setting the VISP_INPUT_IMAGE_PATH environment variable\n\
     produces the same behaviour than using this option.\n\
  \n\
  -p <personal image path>                                   %s\n\
     Specify a personal sequence containing images \n\
     to process.\n\
     By image sequence, we mean one file per image.\n\
     Example : \"C:/Temp/visp-images/line/image.%%04d.%s\"\n\
     %%04d is for the image numbering.\n\
  \n\
  -f <video first image>                                     %d\n\
     First image number to process.\n\
     Set -1 to process the first image of the sequence.\n\
  \n\
  -l <video last image>                                      %d\n\
     Last image number to process. \n\
     Set -1 to process images until the last image of the\n\
     sequence.\n\
  \n\
  -s <video step>                                            %d\n\
     Step between two images.\n\
  \n\
  -r <moving-edge range>                                     %d\n\
     Moving-edge range.\n\
     Increase value to consider large displacement. \n\
     When set to -1, use default value.             \n\
  \n\
  -S <moving-edge sample step>                               %d\n\
     Moving-edge sample step.\n\
     Distance between two moving-edges samples in degrees. \n\
     When set to -1, use default value.             \n\
  \n\
  -t <moving-edge threshold>                                 %d\n\
     Moving-edge threshold corresponding to the minimum        \n\
     contrast to consider. Value in range [0 ; 255] \n\
     When set to -1, use default value.             \n\
  \n\
  -c\n\
     Disable the mouse click. Useful to automate the \n\
     execution of this program without human intervention.\n\
  \n\
  -d \n\
     Turn off the display.\n\
  \n\
  -y \n\
     Enable step-by-step mode waiting for a mouse click to\n\
     process next image.\n\
  \n\
  -T                                                         %d \n\
     Sleep time in ms before processing next image.\n\
     Allows to slow down the image processing. \n\
  \n\
  -w <output images sequence name>                        \n\
     Save images with tracking results in overlay.\n\
     Example: \"result/I%%04d.png\"                   \n\
  \n\
  -A                         \n\
     When display is activated using -d option, enable\n\
     windows auto scaling to fit the screen size. \n\
  \n\
  -v \n\
     Enable verbosity.\n\
  \n\
  -h\n\
     Print the help.\n",
     video_in_ipath.c_str(), ext.c_str(), video_in_ppath.c_str(), ext.c_str(), video_in_first, video_in_last,
     video_in_step, me_range, me_sample_step, me_threshold, sleep_ms);
 
  if (badparam) {
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
  }
}

bool getOptions(int argc, const char **argv, std::string &video_in_ipath, std::string &video_in_ppath,
                int &video_in_first, int &video_in_last, int &video_in_step,
                bool &click_allowed, bool &display, bool &display_scale_auto,
                std::string &video_out_save, int &me_range, int &me_sample_step, int &me_threshold, bool &step_by_step,
                unsigned int &sleep_ms, bool &verbose)
{
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
 
    switch (c) {
    case 'A':
      display_scale_auto = true;
      break;
    case 'c':
      click_allowed = false;
      break;
    case 'd':
      display = false;
      break;
    case 'f':
      video_in_first = atoi(optarg_);
      break;
    case 'i':
      video_in_ipath = std::string(optarg_);
      break;
    case 'l':
      video_in_last = atoi(optarg_);
      break;
    case 'p':
      video_in_ppath = std::string(optarg_);
      break;
    case 'r':
      me_range = atoi(optarg_);
      break;
    case 's':
      video_in_step = atoi(optarg_);
      break;
    case 'S':
      me_sample_step = atoi(optarg_);
      break;
    case 't':
      me_threshold = atoi(optarg_);
      break;
    case 'T':
      sleep_ms = atoi(optarg_);
      break;
    case 'w':
      video_out_save = std::string(optarg_);
      break;
    case 'v':
      verbose = true;
      break;
    case 'y':
      step_by_step = true;
      break;
    case 'h':
      usage(argv[0], nullptr, video_in_ipath, video_in_ppath, video_in_first, video_in_last, video_in_step, me_range, me_sample_step, me_threshold, sleep_ms);
      return false;
 
    default:
      usage(argv[0], optarg_, video_in_ipath, video_in_ppath, video_in_first, video_in_last, video_in_step, me_range, me_sample_step, me_threshold, sleep_ms);
      return false;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr, video_in_ipath, video_in_ppath, video_in_first, video_in_last, video_in_step, me_range, me_sample_step, me_threshold, sleep_ms);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }
 
  return true;
}
 
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)
  std::string env_ipath;
  std::string opt_ipath;
  std::string ipath;
  std::string opt_ppath;
  std::string videoname;
  int opt_first = 1;
  int opt_last = 30;
  int opt_step = 1;
  int opt_me_range = 30;
  int opt_me_sample_step = 5;
  int opt_me_threshold = 20; // Value in [0 ; 255]
  bool opt_click_allowed = true;
  bool opt_display = true;
  bool opt_display_scale_auto = false;
  bool opt_verbose = false;
  std::string opt_save;
  bool opt_step_by_step = false;
  unsigned int opt_sleep_ms = 0;
  unsigned int thickness = 1;
 
  vpImage<unsigned char> I;
  vpDisplay *display = nullptr;
  vpVideoReader g;
 
#if defined(VISP_HAVE_DATASET)
#if VISP_HAVE_DATASET_VERSION >= 0x030600
  std::string ext("png");
#else
  std::string ext("pgm");
#endif
#else
  // We suppose that the user will download a recent dataset
  std::string ext("png");
#endif
 
  try {
    // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
    // environment variable value
    env_ipath = vpIoTools::getViSPImagesDataPath();
 
    // Set the default input path
    if (!env_ipath.empty())
      ipath = env_ipath;
 
    // Read the command line options
    if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_last, opt_step, opt_click_allowed,
                   opt_display, opt_display_scale_auto, opt_save,
                   opt_me_range, opt_me_sample_step, opt_me_threshold, opt_step_by_step, opt_sleep_ms, opt_verbose) == false) {
      return EXIT_FAILURE;
    }
 
    // Get the option values
    if (!opt_ipath.empty()) {
      ipath = opt_ipath;
    }
 
    // Compare ipath and env_ipath. If they differ, we take into account
    // the input path coming from the command line option
    if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
      if (ipath != env_ipath) {
        std::cout << std::endl << "WARNING: " << std::endl;
        std::cout << "  Since -i <visp image path=" << ipath << "> "
          << "  is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
          << "  we skip the environment variable." << std::endl;
      }
    }
 
    // Test if an input path is set
    if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()) {
      usage(argv[0], nullptr, ipath, opt_ppath, opt_first, opt_last, opt_step, opt_me_range, opt_me_sample_step, opt_me_threshold, opt_sleep_ms);
      std::cerr << std::endl << "ERROR:" << std::endl;
      std::cerr << "  Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
        << "  environment variable to specify the location of the " << std::endl
        << "  image path where test images are located." << std::endl
        << "  Use -p <personal image path> option if you want to " << std::endl
        << "  use personal images." << std::endl
        << std::endl;
 
      return EXIT_FAILURE;
    }
 
    // Create output folder if needed
    if (!opt_save.empty()) {
      std::string parent = vpIoTools::getParent(opt_save);
      if (!parent.empty()) {
        std::cout << "Create output directory: " << parent << std::endl;
        vpIoTools::makeDirectory(parent);
      }
      thickness += 1;
    }
 
    if (opt_ppath.empty()) {
      // Set the path location of the image sequence
      videoname = vpIoTools::createFilePath(ipath, "line/image.%04d." + ext);
      g.setFileName(videoname);
    }
    else {
      g.setFileName(opt_ppath);
    }
 
    if (opt_first > 0) {
      g.setFirstFrameIndex(opt_first);
    }
    if (opt_last > 0) {
      g.setLastFrameIndex(opt_last);
    }
    g.setFrameStep(opt_step);
    g.open(I);
 
    if (opt_display) {
      // We open a window using either X11, GTK, GDI or OpenCV
      display = vpDisplayFactory::allocateDisplay();
      if (opt_display_scale_auto) {
        display->setDownScalingFactor(vpDisplay::SCALE_AUTO);
      }
      std::stringstream ss;
      if (g.isVideoFormat()) {
        ss << "Init tracker image " << g.getFrameIndex();
      }
      else {
        std::string image_name = vpIoTools::getName(vpIoTools::formatString(g.getFrameName(), g.getFrameIndex()));
        ss << "Init tracker image " << image_name;
      }
      // Display size is automatically defined by the image (I) size
      display->init(I, 10, 10, ss.str());
      // Display the image
      // The image class has a member that specify a pointer toward
      // the display that has been initialized in the display declaration
      // therefore is is no longer necessary to make a reference to the
      // display variable.
      vpDisplay::display(I);
      vpDisplay::flush(I);
    }
 
    vpVideoWriter *writer = nullptr;
    vpImage<vpRGBa> O;
    if (!opt_save.empty()) {
      writer = new vpVideoWriter();
      writer->setFileName(opt_save);
      writer->open(O);
    }
 
    vpMeLine me_line;
 
    vpMe me;
    if (opt_me_range > 0) {
      me.setRange(opt_me_range);
    }
    if (opt_me_sample_step > 0) {
      me.setSampleStep(opt_me_sample_step);
    }
    if (opt_me_threshold > 0) {
      me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
      me.setThreshold(opt_me_threshold);
    }
 
    me_line.setMe(&me);
    me_line.setDisplay(vpMeSite::RANGE_RESULT);
 
    std::cout << "Input video settings" << std::endl;
    std::cout << "  Name          : " << g.getFrameName() << std::endl;
    std::cout << "  First image   : " << g.getFirstFrameIndex() << std::endl;
    std::cout << "  Last image    : " << g.getLastFrameIndex() << std::endl;
    std::cout << "  Step          : " << g.getFrameStep() << std::endl;
    std::cout << "  Image size    : " << I.getWidth() << " x " << I.getHeight() << std::endl;
 
    std::cout << "Moving-edges settings" << std::endl;
    std::cout << "  Sample step   : " << me_line.getMe()->getSampleStep() << std::endl;
    std::cout << "  Range         : " << me_line.getMe()->getRange() << std::endl;
    std::cout << "  Threshold type: " << (me_line.getMe()->getLikelihoodThresholdType() == vpMe::NORMALIZED_THRESHOLD ? "normalized" : "old threshold (to be avoided)") << std::endl;
    std::cout << "  Threshold     : " << me_line.getMe()->getThreshold() << std::endl;
 
    if (!opt_save.empty()) {
      std::cout << "Create video with tracking results" << std::endl;
      std::cout << "  Name          : " << opt_save << std::endl;
    }
 
    if (opt_display && opt_click_allowed) {
      me_line.initTracking(I);
    }
    else {
      vpImagePoint ip1, ip2;
      ip1.set_i(96);
      ip1.set_j(191);
      ip2.set_i(122);
      ip2.set_j(211);
      me_line.initTracking(I, ip1, ip2);
    }
    me_line.track(I);
 
    if (opt_display) {
      me_line.display(I, vpColor::green);
      vpDisplay::flush(I);
    }
    if (opt_display && opt_click_allowed) {
      std::cout << "A click to continue..." << std::endl;
      vpDisplay::getClick(I);
    }
 
    vpFeatureLine fe_line;
 
    vpCameraParameters cam;
 
    bool quit = false;
    while (!g.end() && !quit) {
      // Read the image
      g.acquire(I);
      std::stringstream ss;
      if (g.isVideoFormat()) {
        ss << "Image " << g.getFrameIndex();
      }
      else {
        std::string image_name = vpIoTools::getName(g.getFrameName());
        ss << "Image " << image_name;
      }
 
      if (opt_verbose) {
        std::cout << "-- " << ss.str() << std::endl;
      }
      if (opt_display) {
        // Display the image
        vpDisplay::display(I);
        vpDisplay::setTitle(I, ss.str());
        if (opt_click_allowed) {
          vpDisplay::displayText(I, 20, I.getWidth() - 150, std::string("Mode: ") + (opt_step_by_step ? std::string("step-by-step") : std::string("continuous")), vpColor::red);
          vpDisplay::displayText(I, 40, I.getWidth() - 150, ss.str(), vpColor::red);
          vpDisplay::displayText(I, 20, 10, "Right click to exit", vpColor::red);
          vpDisplay::displayText(I, 40, 10, "Middle click to change mode", vpColor::red);
          if (opt_step_by_step) {
            vpDisplay::displayText(I, 60, 10, "Left click to process next image", vpColor::red);
          }
        }
      }
 
      me_line.track(I);
 
      vpFeatureBuilder::create(fe_line, cam, me_line);
 
      if (opt_verbose) {
        std::cout << "me_line: rho " << me_line.getRho() << " theta (deg) " << vpMath::deg(me_line.getTheta()) << std::endl;
        std::cout << "fe_line: rho " << fe_line.getRho() << " theta (deg) " << vpMath::deg(fe_line.getTheta()) << std::endl;
      }
 
      if (opt_display) {
        me_line.display(I, vpColor::green, thickness);
        vpDisplay::flush(I);
        if (opt_click_allowed) {
          vpMouseButton::vpMouseButtonType button;
          if (vpDisplay::getClick(I, button, opt_step_by_step)) {
            if (button == vpMouseButton::button3) {
              quit = true;
            }
            else if (button == vpMouseButton::button2) {
              if (opt_step_by_step) {
                opt_step_by_step = false;
              }
              else {
                opt_step_by_step = true;
              }
            }
          }
        }
      }
      if (!opt_save.empty()) {
        vpDisplay::getImage(I, O);
        writer->saveFrame(O);
      }
 
      if (opt_sleep_ms) {
        vpTime::sleepMs(opt_sleep_ms);
      }
    }
    if (opt_display && opt_click_allowed && !quit) {
      vpDisplay::getClick(I);
    }
    if (writer) {
      delete writer;
    }
    if (display) {
      delete display;
    }
    return EXIT_SUCCESS;
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    if (opt_display && opt_click_allowed) {
      vpDisplay::getClick(I);
    }
    return EXIT_FAILURE;
  }
#else
  (void)argc;
  (void)argv;
  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
#endif
}
 
#else
#include <iostream>
 
int main()
{
  std::cout << "visp_me module or X11, GTK, GDI or OpenCV display functionalities are required..." << std::endl;
  return EXIT_SUCCESS;
}
 
#endif