Visual Servoing Platform  version 3.4.0
imageSequenceReader.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  * Reading an image sequence.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
49 #include <visp3/core/vpDebug.h>
50 #include <visp3/core/vpImage.h>
51 #include <visp3/core/vpIoTools.h>
52 #include <visp3/gui/vpDisplayGDI.h>
53 #include <visp3/gui/vpDisplayGTK.h>
54 #include <visp3/gui/vpDisplayOpenCV.h>
55 #include <visp3/gui/vpDisplayX.h>
56 #include <visp3/io/vpImageIo.h>
57 #include <visp3/io/vpParseArgv.h>
58 #include <visp3/io/vpVideoReader.h>
59 
60 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GTK)
61 
62 // List of allowed command line options
63 #define GETOPTARGS "cdi:p:f:h"
64 
65 void usage(const char *name, const char *badparam, std::string ipath, std::string ppath);
66 bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, int &first, bool &click_allowed,
67  bool &display);
68 
79 void usage(const char *name, const char *badparam, std::string ipath, std::string ppath)
80 {
81  fprintf(stdout, "\n\
82 Read an image sequence on the disk.\n\
83 \n\
84 SYNOPSIS\n\
85  %s [-i <input images path>] [-p <personal image sequence path>]\n\
86  [-c][-d][-h]\n \
87 ", name);
88 
89  fprintf(stdout, "\n\
90 OPTIONS: Default\n\
91  -i <input images path> %s\n\
92  Set ViSP-images input path.\n\
93  From this path read \"cube/image.%%04d.pgm\"\n\
94  images.\n\
95  Setting the VISP_INPUT_IMAGE_PATH environment\n\
96  variable produces the same behaviour than using\n\
97  this option.\n\
98 \n\
99  -p <personal image sequence path> %s\n\
100  Specify a personal folder containing an image sequence \n\
101  to process.\n\
102  Example : \"/Temp/ViSP-images/cube/image.%%04d.pgm\"\n\
103  %%04d is for the image numbering.\n\
104 \n\
105  -f <index of the first frame> \n\
106  Specify the first image index.\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  -h\n\
116  Print the help.\n\n", ipath.c_str(), ppath.c_str());
117 
118  if (badparam) {
119  fprintf(stderr, "ERROR: \n");
120  fprintf(stderr, "\nBad parameter [%s]\n", badparam);
121  }
122 }
137 bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, int &first, bool &click_allowed,
138  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 'p':
155  ppath = optarg_;
156  break;
157  case 'f':
158  first = atoi(optarg_);
159  break;
160  case 'h':
161  usage(argv[0], NULL, ipath, ppath);
162  return false;
163  break;
164 
165  default:
166  usage(argv[0], optarg_, ipath, ppath);
167  return false;
168  break;
169  }
170  }
171 
172  if ((c == 1) || (c == -1)) {
173  // standalone param or error
174  usage(argv[0], NULL, ipath, ppath);
175  std::cerr << "ERROR: " << std::endl;
176  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
177  return false;
178  }
179 
180  return true;
181 }
182 
183 int main(int argc, const char **argv)
184 {
185  try {
186  std::string env_ipath;
187  std::string opt_ipath;
188  std::string ipath;
189  std::string opt_ppath;
190  std::string filename;
191  int opt_first = 1;
192  bool opt_click_allowed = true;
193  bool opt_display = true;
194 
195  std::cout << "-------------------------------------------------------" << std::endl;
196  std::cout << " videoImageSequenceReader.cpp" << std::endl << std::endl;
197 
198  std::cout << " reading an image sequence" << std::endl;
199  std::cout << "-------------------------------------------------------" << std::endl;
200  std::cout << std::endl;
201 
202  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
203  // environment variable value
204  env_ipath = vpIoTools::getViSPImagesDataPath();
205 
206  // Set the default input path
207  if (!env_ipath.empty())
208  ipath = env_ipath;
209 
210  // Read the command line options
211  if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_click_allowed, opt_display) == false) {
212  exit(-1);
213  }
214 
215  // Get the option values
216  if (!opt_ipath.empty())
217  ipath = opt_ipath;
218 
219  // Compare ipath and env_ipath. If they differ, we take into account
220  // the input path comming from the command line option
221  if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
222  if (ipath != env_ipath) {
223  std::cout << std::endl << "WARNING: " << std::endl;
224  std::cout << " Since -i <visp image path=" << ipath << "> "
225  << " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
226  << " we skip the environment variable." << std::endl;
227  }
228  }
229 
230  // Test if an input path is set
231  if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()) {
232  usage(argv[0], NULL, ipath, opt_ppath);
233  std::cerr << std::endl << "ERROR:" << std::endl;
234  std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
235  << " environment variable to specify the location of the " << std::endl
236  << " video path where test images are located." << std::endl
237  << std::endl;
238  exit(-1);
239  }
240 
242 
243  // vpImage is a template class you can declare vpImage of ...
244  // everything...
245  vpImage<vpRGBa> I;
246 
247  // Create the video Reader
248  vpVideoReader reader;
249 
250  if (opt_ppath.empty()) {
251  filename = vpIoTools::createFilePath(ipath, "mire-2/image.%04d.pgm");
252  } else {
253  filename.assign(opt_ppath);
254  }
255 
256  // Initialize the reader and get the first frame.
257  reader.setFileName(filename);
258  reader.setFirstFrameIndex(opt_first);
259  reader.open(I);
260  std::cout << "Current image number: " << reader.getFrameIndex() << std::endl;
261  if ((opt_first) != reader.getFrameIndex()) {
262  std::cout << "Unable to get requested image number: " << opt_first << std::endl;
263  return EXIT_FAILURE;
264  }
265 
266 // We open a window using either X11, GTK, GDI or OpenCV.
267 #if defined VISP_HAVE_X11
268  vpDisplayX display;
269 #elif defined VISP_HAVE_GTK
270  vpDisplayGTK display;
271 #elif defined VISP_HAVE_GDI
272  vpDisplayGDI display;
273 #elif defined VISP_HAVE_OPENCV
274  vpDisplayOpenCV display;
275 #endif
276 
277  if (opt_display) {
278  // Display size is automatically defined by the image (I) size
279  display.init(I, 100, 100, "Display video frame");
281  vpDisplay::flush(I);
282  }
283 
284  if (opt_display && opt_click_allowed) {
285  std::cout << "Click in the image to read and display the second frame" << std::endl;
287  }
288 
289  reader.getFrame(I, opt_first + 1);
290  std::cout << "Current image number (should be " << opt_first + 1 << "): " << reader.getFrameIndex() << std::endl;
291  if ((opt_first + 1) != reader.getFrameIndex()) {
292  std::cout << "Unable to get requested image number: " << opt_first + 1 << std::endl;
293  return EXIT_FAILURE;
294  }
295 
296  if (opt_display) {
298  vpDisplay::flush(I);
299  }
300 
301  if (opt_display && opt_click_allowed) {
302  std::cout << "Click on the image to read and display the last frame" << std::endl;
304  }
305 
306  reader.getFrame(I, reader.getLastFrameIndex());
307  std::cout << "Current image number (should be " << reader.getLastFrameIndex() << "): " << reader.getFrameIndex()
308  << std::endl;
309 
310  if (opt_display) {
312  vpDisplay::flush(I);
313  }
314 
315  if (opt_display && opt_click_allowed) {
316  std::cout << "Click to see the video" << std::endl;
318  }
319 
320  int lastFrame = reader.getLastFrameIndex();
321 
322  for (int i = opt_first; i <= lastFrame; i++) {
323  reader.getFrame(I, i);
324  std::cout << "Current image number: " << reader.getFrameIndex() << std::endl;
325  if (opt_display) {
327  vpDisplay::flush(I);
328  }
329  }
330 
331  if (opt_display && opt_click_allowed) {
332  std::cout << "Click to exit the test" << std::endl;
334  }
335 
336  return EXIT_SUCCESS;
337  } catch (const vpException &e) {
338  std::cout << "Catch an exception: " << e << std::endl;
339  return EXIT_FAILURE;
340  }
341 }
342 #else
343 int main()
344 {
345  std::cout << "Sorry, no display is available. We quit this example." << std::endl;
346  return EXIT_SUCCESS;
347 }
348 #endif
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:151
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 std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1202
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1446
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
long getLastFrameIndex()
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
void setFirstFrameIndex(const long first_frame)
bool getFrame(vpImage< vpRGBa > &I, long frame)
long getFrameIndex() const