grabDiskFloat.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 <stdlib.h>
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_DISPLAY)
 
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpDiskGrabber.h>
#include <visp3/io/vpParseArgv.h>
 
// List of allowed command line options
#define GETOPTARGS "df:g:hi:l:s:z:"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif

void usage(const char *name, const char *badparam, std::string ipath, std::string genericname, long int first,
           long int last, long int step, unsigned int nzero)
{
  fprintf(stdout, "\n\
Read a sequence of depth maps from the disk. Display it using X11, GDI,\n\
GTK-2 or OpenCV. The sequence is made of separate depth maps.\n\
\n\
SYNOPSIS\n\
  %s [-i <input image path>] \n\
   [-f <first frame>] [-g <generic name>] [-l <last image> [-s <step>] \n\
   [-z <number of zero>] [-d] [-h]\n", name);
 
  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -i <input image path>                                     %s\n\
     Set image input path. The sequence will be looked for in this folder.\n\
\n\
  -g <generic name>                                         %s\n\
     Specify the generic name of the files.\n\
     A generic name of file is for example myfile_%%04d.npy\n\
     Supported formats ar: pfm, exr, npy or tiff.\n\
     - pfm, exr and npy formats are supported natively\n\
     - tiff format is only supported if ViSP is build with\n\
       OpenCV support.\n\
  \n\
  -f <first frame>                                          %ld\n\
     First frame number of the sequence.\n\
  \n\
  -l <last image>                                           %ld\n\
     Last frame number of the sequence.\n\
  \n\
  -s <step>                                                 %ld\n\
     Step between two images.\n\
  \n\
  -z <number of zero>                                       %u\n\
     Number of digits to encode the image number.\n\
  \n\
  -d \n\
     Turn off the display.\n\
  \n\
  -h \n\
     Print the help.\n\n", ipath.c_str(), genericname.c_str(), first, last, step, nzero);
 
  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}

bool getOptions(int argc, const char **argv, std::string &ipath, std::string &genericname, long &first,
                long &last, long &step, unsigned int &nzero, bool &display)
{
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
 
    switch (c) {
    case 'd':
      display = false;
      break;
    case 'f':
      first = atol(optarg_);
      break;
    case 'g':
      genericname = optarg_;
      break;
    case 'i':
      ipath = optarg_;
      break;
    case 'l':
      last = std::atol(optarg_);
      break;
    case 's':
      step = atol(optarg_);
      break;
    case 'z':
      nzero = static_cast<unsigned int>(atoi(optarg_));
      break;
    case 'h':
      usage(argv[0], nullptr, ipath, genericname, first, last, step, nzero);
      return false;
 
    default:
      usage(argv[0], optarg_, ipath, genericname, first, last, step, nzero);
      return false;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr, ipath, genericname, first, last, step, nzero);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }
 
  return true;
}

void convertDepthImageToDisplayImage(const vpImage<float> &Idepth, vpImage<unsigned char> &Idisp)
{
  float max, min;
  Idepth.getMinMaxValue(min, max);
  Idisp.resize(Idepth.getHeight(), Idepth.getWidth());
  float a = 255.f / (min - max);
  float b = 255.f - a * min;
  int size = Idepth.getSize();
#ifdef VISP_HAVE_OPENMP
#pragma omp parallel for
#endif
  for (int i = 0; i < size; ++i) {
    Idisp.bitmap[i] = static_cast<unsigned char>(a * Idepth.bitmap[i] + b);
  }
}

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_genericname = "mbt-depth/castel/castel/depth_image_%04d.pfm";
 
    bool opt_display = true;
 
    long int opt_first = 0;
    long int opt_last = 29;
    long int opt_step = 1;
    unsigned int opt_nzero = 4;
 
    // 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_genericname, opt_first, opt_last, opt_step, opt_nzero,
                   opt_display) == false) {
      return EXIT_FAILURE;
    }
 
    // Get the option values
    if (!opt_ipath.empty()) {
      ipath = opt_ipath;
    }
    else {
#if defined(VISP_HAVE_DATASET)
#if VISP_HAVE_DATASET_VERSION < 0x030701
      std::cout << "This example requires visp-images 3.7.1 or a more recent version..." << std::endl;
      return EXIT_SUCCESS;
#endif
#endif
    }
 
    // 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()) {
      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;
      }
    }
 
    // 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<float> I;
    vpImage<unsigned char> Idisp;
 
    // Declare a framegrabber able to read a sequence of successive
    // images from the disk
    vpDiskGrabber g;
 
    if (opt_genericname.empty()) {
      throw(vpException(vpException::notInitialized, "A generic name was given to the program"));
    }
    else {
      if (!ipath.empty()) {
        // Set the path to the directory containing the sequence
        opt_genericname = vpIoTools::createFilePath(ipath, opt_genericname);
      }
      std::cout << "Sequence that will be read:= " << opt_genericname << std::endl;
      g.setGenericName(opt_genericname);
    }
    // Set the step between two images of the sequence
    g.setStep(opt_step);
    // Set the number of digits to build the image number
    g.setNumberOfZero(opt_nzero);
    // Set the first frame number of the sequence
    g.setImageNumber(opt_first);
 
    // Open the framegrabber by loading the first image of the sequence
    g.open(I);
    Idisp.init(I.getHeight(), I.getWidth());
    convertDepthImageToDisplayImage(I, Idisp);
    std::cout << "Image size: width : " << I.getWidth() << " height: " << I.getHeight() << std::endl;
 
    // We open a window using either of the display library.
    // Its size is automatically defined by the image (I) size
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    std::shared_ptr<vpDisplay> display = vpDisplayFactory::createDisplay();
#else
    vpDisplay *display = vpDisplayFactory::allocateDisplay();
#endif
 
    if (opt_display) {
      display->init(Idisp, 100, 100, "Disk Framegrabber");
 
      // 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(Idisp);
      vpDisplay::flush(Idisp);
    }
 
    // this is the loop over the image sequence
    while (g.getImageNumber() < opt_last) {
      double tms = vpTime::measureTimeMs();
      // read the image and then increment the image counter so that the next
      // call to acquire(I) will get the next image
      g.acquire(I);
      if (opt_display) {
        convertDepthImageToDisplayImage(I, Idisp);
        // Display the image
        vpDisplay::display(Idisp);
        // Flush the display
        vpDisplay::flush(Idisp);
      }
      // Synchronise the loop to 40 ms
      vpTime::wait(tms, 40);
    }
#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) 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