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Merge branch 'master' into fix_canny
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LAGNEAU Romain committed Nov 4, 2024
2 parents 4fe3eba + b4ad052 commit db4b5e5
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Showing 11 changed files with 501 additions and 390 deletions.
1 change: 1 addition & 0 deletions ChangeLog.txt
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Expand Up @@ -90,6 +90,7 @@ ViSP 3.x.x (Version in development)
. [#1485] Build issue around nlohmann_json usage with VTK 9.2.0 or more recent version used as an embedded
3rdparty by PCL
. [#1494] Memory management issue in vpArray2D::resize()
. [#1495] vpMeLine is unable to seek extremities
----------------------------------------------
ViSP 3.6.0 (released September 22, 2023)
- Contributors:
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273 changes: 187 additions & 86 deletions doc/tutorial/detection_dnn/tutorial-detection-dnn.dox
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3 changes: 1 addition & 2 deletions example/tracking/trackMeCircle.cpp
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Expand Up @@ -56,13 +56,12 @@

#include <visp3/core/vpColor.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/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/me/vpMeEllipse.h>

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16 changes: 7 additions & 9 deletions example/tracking/trackMeEllipse.cpp
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@@ -1,7 +1,6 @@
/****************************************************************************
*
/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
* 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
Expand Down Expand Up @@ -30,8 +29,7 @@
*
* Description:
* Tracking of an ellipse.
*
*****************************************************************************/
*/

/*!
\file trackMeEllipse.cpp
Expand Down Expand Up @@ -316,8 +314,8 @@ int main(int argc, const char **argv)
// it size is not defined yet, it will be defined when the image is
// read on the disk
vpImage<unsigned char> I;

vpDisplay *display = nullptr;
vpVideoReader g;

try {
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
Expand All @@ -336,8 +334,9 @@ int main(int argc, const char **argv)
}

// Get the option values
if (!opt_ipath.empty())
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
Expand Down Expand Up @@ -374,7 +373,6 @@ int main(int argc, const char **argv)
thickness += 1;
}

vpVideoReader g;
if (opt_ppath.empty()) {
// Set the path location of the image sequence
#if VISP_HAVE_DATASET_VERSION >= 0x030600
Expand All @@ -398,7 +396,7 @@ int main(int argc, const char **argv)
g.open(I);

if (opt_display) {
// We open a window using either X11, GTK or GDI.
// We open a window using either X11, GTK, GDI or OpenCV
#if defined(VISP_HAVE_X11)
display = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
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204 changes: 89 additions & 115 deletions example/tracking/trackMeLine.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
/****************************************************************************
*
/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
* 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
Expand Down Expand Up @@ -30,8 +29,7 @@
*
* Description:
* Tracking of a line.
*
*****************************************************************************/
*/

/*!
\file trackMeLine.cpp
Expand Down Expand Up @@ -59,20 +57,18 @@
#include <visp3/core/vpColor.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImagePoint.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/vpVideoReader.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/me/vpMeLine.h>

#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeatureLine.h>

#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>

// List of allowed command line options
#define GETOPTARGS "cdf:hi:l:p:s:"

Expand Down Expand Up @@ -222,25 +218,23 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &pp
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string opt_ppath;
std::string dirname;
std::string filename;
unsigned int opt_first = 1;
unsigned int opt_last = 30;
unsigned int opt_step = 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::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string opt_ppath;
std::string videoname;
unsigned int opt_first = 1;
unsigned int opt_last = 30;
unsigned int opt_step = 1;
bool opt_click_allowed = true;
bool opt_display = true;
unsigned int thickness = 1;

vpImage<unsigned char> I;
vpDisplay *display = nullptr;
vpVideoReader g;

try {
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
env_ipath = vpIoTools::getViSPImagesDataPath();
Expand All @@ -256,8 +250,9 @@ int main(int argc, const char **argv)
}

// Get the option values
if (!opt_ipath.empty())
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
Expand All @@ -284,76 +279,42 @@ int main(int argc, const char **argv)
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::ostringstream s;
char cfilename[FILENAME_MAX];

vpVideoReader g;
if (opt_ppath.empty()) {

// Warning :
// The image sequence is not provided with the ViSP package
// therefore the program will return an error :
// !! couldn't read file visp-images/mire-2/image.0001.png
//
// ViSP dataset is available on the visp www site
// https://visp.inria.fr/download/.

// Set the path location of the image sequence
dirname = vpIoTools::createFilePath(ipath, "line");

// Build the name of the image file
s.setf(std::ios::right, std::ios::adjustfield);
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
filename = vpIoTools::createFilePath(dirname, s.str());
// Set the path location of the image sequence
#if VISP_HAVE_DATASET_VERSION >= 0x030600
videoname = vpIoTools::createFilePath(ipath, "line/image.%04d.png");
#else
videoname = vpIoTools::createFilePath(ipath, "line/image.%04d.pgm");
#endif
g.setFileName(videoname);
}
else {
snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
filename = cfilename;
g.setFileName(opt_ppath);
}

// Read the image named "filename", and put the bitmap into the image structure I.
// I is initialized to the correct size
//
// vpImageIo::read() may throw various exception if, for example,
// the file does not exist, or if the memory cannot be allocated
try {
vpCTRACE << "Load: " << filename << std::endl;

vpImageIo::read(I, filename);
if (opt_first > 0) {
g.setFirstFrameIndex(opt_first);
}
catch (...) {
// If an exception is thrown by vpImageIo::read() it will result in the end of the program.
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot read " << filename << std::endl;
if (opt_ppath.empty()) {
std::cerr << " Check your -i " << ipath << " option " << std::endl
<< " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
}
else {
std::cerr << " Check your -p " << opt_ppath << " option " << std::endl;
}
return EXIT_FAILURE;
if (opt_last > 0) {
g.setLastFrameIndex(opt_last);
}
g.setFrameStep(opt_step);
g.open(I);

// We open a window using either X11, GTK or GDI.
if (opt_display) {
// We open a window using either X11, GTK, GDI or OpenCV
#if defined(VISP_HAVE_X11)
vpDisplayX display;
display = new vpDisplayX;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display;
display = new vpDisplayGTK;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
display = new vpDisplayGDI;
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display;
display = new vpDisplayOpenCV;
#endif

if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(I, 100, 100, "Display...");
display->init(I, 10, 10, "Current image");
// Display the image
// The image class has a member that specify a pointer toward
// the display that has been initialized in the display declaration
Expand All @@ -363,32 +324,46 @@ int main(int argc, const char **argv)
vpDisplay::flush(I);
}

vpMeLine L1;
vpMeLine me_line;

vpMe me;
me.setRange(15);
me.setPointsToTrack(160);
me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
me.setThreshold(20);

L1.setMe(&me);
L1.setDisplay(vpMeSite::RANGE_RESULT);
me_line.setMe(&me);
me_line.setDisplay(vpMeSite::RANGE_RESULT);

std::cout << "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_display && opt_click_allowed)
L1.initTracking(I);
me_line.initTracking(I);
else {
vpImagePoint ip1, ip2;
ip1.set_i(96);
ip1.set_j(191);
ip2.set_i(122);
ip2.set_j(211);
L1.initTracking(I, ip1, ip2);
me_line.initTracking(I, ip1, ip2);
}

if (opt_display)
L1.display(I, vpColor::green);
if (opt_display) {
me_line.display(I, vpColor::green);
}

L1.track(I);
me_line.track(I);
if (opt_display && opt_click_allowed) {
std::cout << "A click to continue..." << std::endl;
vpDisplay::getClick(I);
Expand All @@ -398,42 +373,41 @@ int main(int argc, const char **argv)
vpFeatureLine l;

vpCameraParameters cam;
vpImage<vpRGBa> Ic;
while (iter < opt_last) {
std::cout << "----------------------------------------------------------" << std::endl;
// set the new image name
s.str("");
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
filename = vpIoTools::createFilePath(dirname, s.str());
// read the image
vpImageIo::read(I, filename);

bool quit = false;
while (!g.end() && !quit) {
g.acquire(I);
std::cout << "Process image " << g.getFrameIndex() << std::endl;
if (opt_display) {
// Display the image
vpDisplay::display(I);
if (opt_click_allowed) {
vpDisplay::displayText(I, 40, 10, "Click to exit...", vpColor::red);
}
}

std::cout << "Tracking on image: " << filename << std::endl;
L1.track(I);
me_line.track(I);

vpTRACE("L1 : %f %f", L1.getRho(), vpMath::deg(L1.getTheta()));
vpFeatureBuilder::create(l, cam, L1);
vpTRACE("L1 : %f %f", l.getRho(), vpMath::deg(l.getTheta()));
vpTRACE("me_line : %f %f", me_line.getRho(), vpMath::deg(me_line.getTheta()));
vpFeatureBuilder::create(l, cam, me_line);
vpTRACE("me_line : %f %f", l.getRho(), vpMath::deg(l.getTheta()));

if (opt_display) {
L1.display(I, vpColor::green);
me_line.display(I, vpColor::green, thickness);
vpDisplay::flush(I);
if (opt_click_allowed) {
std::cout << "A click to continue..." << std::endl;
vpDisplay::getClick(I);
}
if (opt_display && opt_click_allowed) {
if (vpDisplay::getClick(I, false)) {
quit = true;
}
}

iter += opt_step;
}
if (opt_display && opt_click_allowed) {
std::cout << "A click to exit..." << std::endl;
if (opt_display && opt_click_allowed && !quit) {
vpDisplay::getClick(I);
}
if (display) {
delete display;
}
return EXIT_SUCCESS;
}
catch (const vpException &e) {
Expand Down
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