Visual Servoing Platform version 3.6.0
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imageSequenceReader.cpp

Reading an image sequence using vpVideoReader class.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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:
* Reading an image sequence.
*
*****************************************************************************/
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/io/vpVideoReader.h>
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GTK)
// List of allowed command line options
#define GETOPTARGS "cdi:p:f:h"
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath);
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, int &first, bool &click_allowed,
bool &display);
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
fprintf(stdout, "\n\
Read an image sequence on the disk.\n\
\n\
SYNOPSIS\n\
%s [-i <input images path>] [-p <personal image sequence path>]\n\
[-c][-d][-h]\n\
",
name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <input images path> %s\n\
Set ViSP-images input path.\n\
From this path read \"cube/image.%%04d.%s\"\n\
images.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-p <personal image sequence path> %s\n\
Specify a personal folder containing an image sequence \n\
to process.\n\
Example : \"/Temp/visp-images/cube/image.%%04d.%s\"\n\
%%04d is for the image numbering.\n\
\n\
-f <index of the first frame> \n\
Specify the first image index.\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\
-h\n\
Print the help.\n\n",
ipath.c_str(), ext.c_str(), ppath.c_str(), ext.c_str());
if (badparam) {
fprintf(stderr, "ERROR: \n");
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
}
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, int &first, bool &click_allowed,
bool &display)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
case 'i':
ipath = optarg_;
break;
case 'p':
ppath = optarg_;
break;
case 'f':
first = atoi(optarg_);
break;
case 'h':
usage(argv[0], NULL, ipath, ppath);
return false;
break;
default:
usage(argv[0], optarg_, ipath, ppath);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, ipath, ppath);
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)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string opt_ppath;
std::string filename;
int opt_first = 1;
bool opt_click_allowed = true;
bool opt_display = true;
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " videoImageSequenceReader.cpp" << std::endl << std::endl;
std::cout << " reading an image sequence" << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// 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_click_allowed, opt_display) == 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 comming 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], NULL, ipath, opt_ppath);
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
<< " video path where test images are located." << std::endl
<< std::endl;
return EXIT_FAILURE;
}
// vpImage is a template class you can declare vpImage of ...
// everything...
// Create the video Reader
vpVideoReader reader;
if (opt_ppath.empty()) {
filename = vpIoTools::createFilePath(ipath, "mire-2/image.%04d." + ext);
}
else {
filename.assign(opt_ppath);
}
// Initialize the reader and get the first frame.
reader.setFileName(filename);
reader.setFirstFrameIndex(opt_first);
reader.open(I);
std::cout << "Current image number: " << reader.getFrameIndex() << std::endl;
if ((opt_first) != reader.getFrameIndex()) {
std::cout << "Unable to get requested image number: " << opt_first << std::endl;
return EXIT_FAILURE;
}
// We open a window using either X11, GTK, GDI or OpenCV.
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display;
#endif
if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100, "Display video frame");
}
if (opt_display && opt_click_allowed) {
std::cout << "Click in the image to read and display the second frame" << std::endl;
}
reader.getFrame(I, opt_first + 1);
std::cout << "Current image number (should be " << opt_first + 1 << "): " << reader.getFrameIndex() << std::endl;
if ((opt_first + 1) != reader.getFrameIndex()) {
std::cout << "Unable to get requested image number: " << opt_first + 1 << std::endl;
return EXIT_FAILURE;
}
if (opt_display) {
}
if (opt_display && opt_click_allowed) {
std::cout << "Click on the image to read and display the last frame" << std::endl;
}
reader.getFrame(I, reader.getLastFrameIndex());
std::cout << "Current image number (should be " << reader.getLastFrameIndex() << "): " << reader.getFrameIndex()
<< std::endl;
if (opt_display) {
}
if (opt_display && opt_click_allowed) {
std::cout << "Click to see the video" << std::endl;
}
int lastFrame = reader.getLastFrameIndex();
for (int i = opt_first; i <= lastFrame; i++) {
reader.getFrame(I, i);
std::cout << "Current image number: " << reader.getFrameIndex() << std::endl;
if (opt_display) {
}
}
if (opt_display && opt_click_allowed) {
std::cout << "Click to exit the test" << std::endl;
}
return EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "Sorry, no display is available. We quit this example." << std::endl;
return EXIT_SUCCESS;
}
#endif
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
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)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
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