Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
tutorial-count-coins.cpp
#include <cstdlib>
#include <iostream>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#if defined(VISP_HAVE_MODULE_IMGPROC)
#include <visp3/core/vpMomentObject.h>
#include <visp3/imgproc/vpImgproc.h>
#endif
int main(int argc, char *argv[])
{
#if defined(VISP_HAVE_MODULE_IMGPROC) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
std::string input_filename = "coins1.pgm";
bool white_foreground = false;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--input" && i + 1 < argc) {
input_filename = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--method" && i + 1 < argc) {
method = (vp::vpAutoThresholdMethod)atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--white_foreground") {
white_foreground = true;
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Usage: " << argv[0]
<< " [--input <input image>]"
" [--method <0: Huang, 1: Intermodes, 2: IsoData, 3: "
"Mean, 4: Otsu, 5: Triangle>]"
" [--white_foreground]"
" [--help]"
<< std::endl;
return EXIT_SUCCESS;
}
}
vpImageIo::read(I, input_filename);
#ifdef VISP_HAVE_X11
vpDisplayX d, d2, d3, d4, d5;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d, d2, d3, d4, d5;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV d, d2, d3, d4, d5;
#endif
d.init(I, 0, 0, "Coins");
vpImage<unsigned char> I_bin, I_fill;
I_bin = I;
vp::autoThreshold(I_bin, method, white_foreground ? 0 : 255, white_foreground ? 255 : 0);
d2.init(I_bin, I.getWidth(), 0, "Binarisation");
I_fill = I_bin;
vp::fillHoles(I_fill);
d3.init(I_fill, 0, I.getHeight() + 80, "Fill holes");
vpImage<unsigned char> I_open = I_fill;
vpImage<unsigned char> I_close = I_open;
d4.init(I_close, I.getWidth(), I.getHeight() + 80, "Closing");
vpImage<unsigned char> I_contours(I_close.getHeight(), I_close.getWidth());
for (unsigned int cpt = 0; cpt < I_close.getSize(); cpt++)
I_contours.bitmap[cpt] = I_close.bitmap[cpt] ? 1 : 0;
vp::vpContour vp_contours;
std::vector<std::vector<vpImagePoint> > contours;
vp::findContours(I_contours, vp_contours, contours, vp::CONTOUR_RETR_EXTERNAL);
vpImage<vpRGBa> I_draw_contours(I_contours.getHeight(), I_contours.getWidth(), vpRGBa());
vp::drawContours(I_draw_contours, contours, vpColor::red);
d5.init(I_draw_contours, 0, 2 * I.getHeight() + 80, "Contours");
vpDisplay::display(I_draw_contours);
int nb_coins = 0;
for (size_t i = 0; i < contours.size(); i++) {
std::vector<vpPoint> vec_p;
for (size_t j = 0; j < contours[i].size(); j++) {
vpPoint pt;
pt.set_x(contours[i][j].get_u());
pt.set_y(contours[i][j].get_v());
vec_p.push_back(pt);
}
obj.fromVector(vec_p);
// sign(m00) depends of the contour orientation (clockwise or
// counter-clockwise) that's why we use fabs
if (std::fabs(obj.get(0, 0)) >= I.getSize() / 200) {
nb_coins++;
std::stringstream ss;
ss << "Coin " << nb_coins;
int centroid_x = (int)std::fabs(obj.get(1, 0) / obj.get(0, 0));
int centroid_y = (int)std::fabs(obj.get(0, 1) / obj.get(0, 0));
vpDisplay::displayText(I_draw_contours, centroid_y, centroid_x - 20, ss.str(), vpColor::red);
}
}
vpDisplay::displayText(I_draw_contours, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::flush(I_close);
vpDisplay::flush(I_draw_contours);
vpDisplay::getClick(I_draw_contours);
return EXIT_SUCCESS;
#else
(void)argc;
(void)argv;
return 0;
#endif
}
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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:135
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
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)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:148
static void dilatation(vpImage< Type > &I, Type value, Type value_out, vpConnexityType connexity=CONNEXITY_4)
static void erosion(vpImage< Type > &I, Type value, Type value_out, vpConnexityType connexity=CONNEXITY_4)
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getSize() const
Definition: vpImage.h:227
Type * bitmap
points toward the bitmap
Definition: vpImage.h:143
unsigned int getHeight() const
Definition: vpImage.h:188
Class for generic objects.
void setType(vpObjectType input_type)
const std::vector< double > & get() const
void fromVector(std::vector< vpPoint > &points)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
void set_x(double x)
Set the point x coordinate in the image plane.
Definition: vpPoint.cpp:511
void set_y(double y)
Set the point y coordinate in the image plane.
Definition: vpPoint.cpp:513
Definition: vpRGBa.h:67
VISP_EXPORT void findContours(const vpImage< unsigned char > &I_original, vpContour &contours, std::vector< std::vector< vpImagePoint > > &contourPts, const vpContourRetrievalType &retrievalMode=vp::CONTOUR_RETR_TREE)
Definition: vpContours.cpp:300
VISP_EXPORT void drawContours(vpImage< unsigned char > &I, const std::vector< std::vector< vpImagePoint > > &contours, unsigned char grayValue=255)
Definition: vpContours.cpp:250
VISP_EXPORT void fillHoles(vpImage< unsigned char > &I)
Definition: vpMorph.cpp:54
VISP_EXPORT unsigned char autoThreshold(vpImage< unsigned char > &I, const vp::vpAutoThresholdMethod &method, const unsigned char backgroundValue=0, const unsigned char foregroundValue=255)
@ CONTOUR_RETR_EXTERNAL
Definition: vpContours.h:168
vpAutoThresholdMethod
Definition: vpImgproc.h:58
@ AUTO_THRESHOLD_OTSU
Definition: vpImgproc.h:75