displaySequence.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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:
 * Read an image sequence from the disk and display it.
 */
 
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
#if defined(VISP_HAVE_DISPLAY)
 
#include <visp3/core/vpImage.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/core/vpTime.h>

 
// List of allowed command line options
#define GETOPTARGS "di:p:hf:l:s:w"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif

void usage(const char *name, const char *badparam, const std::string &ipath, const std::string &ppath, unsigned first,
           unsigned last, unsigned step)
{
#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\
Read an image sequence from the disk and display it.\n\
The sequence is made of separate images. Each image corresponds\n\
to a PGM file.\n\
\n\
SYNOPSIS\n\
  %s [-i <test image path>] [-p <personal image path>]\n\
     [-f <first image>] [-l <last image>] [-s <step>] \n\
     [-w] [-d] [-h]\n", name);
 
  fprintf(stdout, "\n\
 OPTIONS:                                               Default\n\
  -i <test image path>                                %s\n\
     Set image input path.\n\
     From this path read \"cube/image.%%04d.%s\"\n\
     images. These images come from ViSP-images-x.y.z.tar.gz\n\
     available on the ViSP website.\n\
     Setting the VISP_INPUT_IMAGE_PATH environment\n\
     variable produces the same behaviour than using\n\
     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\
     The format is selected by analyzing the filename extension.\n\
     Example : \"/Temp/visp-images/cube/image.%%04d.%s\"\n\
     %%04d is for the image numbering.\n\
 \n\
  -f <first image>                                     %u\n\
     First image number of the sequence.\n\
 \n\
  -l <last image>                                      %u\n\
     last image number of the sequence.\n\
 \n\
  -s <step>                                            %u\n\
     Step between two images.\n\
\n\
  -d                                             \n\
     Disable the image display. This can be useful \n\
     for automatic tests using crontab under Unix or \n\
     using the task manager under Windows.\n\
\n\
  -w\n\
     Wait for a mouse click between two images.\n\
     If the image display is disabled (using -d)\n\
     this option is without effect.\n\
\n\
  -h\n\
     Print the help.\n\n",
          ipath.c_str(), ext.c_str(), ppath.c_str(), ext.c_str(), first, last, step);
 
  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &last,
                unsigned &step, bool &display, bool &wait)
{
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
 
    switch (c) {
    case 'd':
      display = false;
      break;
    case 'i':
      ipath = optarg_;
      break;
    case 'p':
      ppath = optarg_;
      break;
    case 'f':
      first = static_cast<unsigned int>(atoi(optarg_));
      break;
    case 'l':
      last = static_cast<unsigned int>(atoi(optarg_));
      break;
    case 's':
      step = static_cast<unsigned int>(atoi(optarg_));
      break;
    case 'w':
      wait = true;
      break;
    case 'h':
      usage(argv[0], nullptr, ipath, ppath, first, last, step);
      return false;
 
    default:
      usage(argv[0], optarg_, ipath, ppath, first, last, step);
      return false;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr, ipath, ppath, first, last, step);
    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 (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  vpDisplay *display = nullptr;
#endif
  try {
    std::string env_ipath;
    std::string opt_ipath;
    std::string ipath;
    std::string opt_ppath;
    std::string dirname;
    std::string filename;
    unsigned opt_first = 0;
    unsigned opt_last = 80;
    unsigned opt_step = 1;
    bool opt_display = true;
    bool opt_wait = false;
 
#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
 
    // 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_display, opt_wait) ==
        false) {
      return EXIT_FAILURE;
    }
 
    if (!opt_display)
      opt_wait = false; // turn off the waiting
 
    // 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);
      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;
    }
 
    // Declare an image, this is a gray level image (unsigned char)
    // it size is not defined yet, it will be defined when the image will
    // read on the disk
    vpImage<unsigned char> I;
 
    unsigned iter = opt_first;
    std::string imagename("image.%04d." + ext);
 
    if (opt_ppath.empty()) {
      // Warning : the dataset is available https://visp.inria.fr/download/
      dirname = vpIoTools::createFilePath(ipath, "cube");
 
      // Build the name of the image file
      filename = vpIoTools::createFilePath(dirname, vpIoTools::formatString(imagename, iter));
    }
    else {
      filename = vpIoTools::formatString(opt_ppath, iter);
    }
    // Read image named "filename" and put the bitmap in I
    try {
      vpImageIo::read(I, filename);
    }
    catch (...) {
      std::cerr << std::endl << "ERROR:" << std::endl;
      std::cerr << "  Cannot read " << filename << std::endl;
      std::cerr << "  Check your -i " << ipath << " option, " << std::endl
        << "  or your -p " << opt_ppath << " option " << std::endl
        << "  or VISP_INPUT_IMAGE_PATH environment variable" << std::endl;
      return EXIT_FAILURE;
    }
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    std::shared_ptr<vpDisplay> display = vpDisplayFactory::createDisplay();
#else
    vpDisplay *display = vpDisplayFactory::allocateDisplay();
#endif
    if (opt_display) {
 
      // We open a window using either X11 or GTK or GDI.
      // Its size is automatically defined by the image (I) size
      display->init(I, 100, 100, "Display...");
 
      // 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);
    }
 
    // this is the loop over the image sequence
    while (iter < opt_last) {
      double tms = vpTime::measureTimeMs();
 
      // set the new image name
      if (opt_ppath.empty()) {
        filename = vpIoTools::createFilePath(dirname, vpIoTools::formatString(imagename, iter));
      }
      else {
        filename = vpIoTools::formatString(opt_ppath, iter);
      }
 
      std::cout << "read : " << filename << std::endl;
      // read the image
      vpImageIo::read(I, filename);
      if (opt_display) {
        // Display the image
        vpDisplay::display(I);
        // Flush the display
        vpDisplay::flush(I);
      }
      if (opt_wait) {
        std::cout << "A click in the image to continue..." << std::endl;
        // Wait for a blocking mouse click
        vpDisplay::getClick(I);
      }
      else {
     // Synchronise the loop to 40 ms
        vpTime::wait(tms, 40);
      }
 
      iter += opt_step;
    }
    //  double tms_2 = vpTime::measureTimeMs() ;
    //  double tms_total = tms_2 - tms_1 ;
    //  std::cout << "Total Time : "<< tms_total<<std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
    if (display != nullptr) {
      delete display;
    }
#endif
    return EXIT_SUCCESS;
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
    if (display != nullptr) {
      delete display;
    }
#endif
    return EXIT_FAILURE;
  }
}
#else
int main()
{
  std::cout << "You do not have X11, or GDI (Graphical Device Interface), or GTK functionalities to display images..."
    << std::endl;
  std::cout << "Tip if you are on a unix-like system:" << std::endl;
  std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
  std::cout << "Tip if you are on a windows-like system:" << std::endl;
  std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
  return EXIT_SUCCESS;
}
#endif