Visual Servoing Platform  version 3.5.1 under development (2022-11-26)
tutorial-flood-fill.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>
#if defined(VISP_HAVE_MODULE_IMGPROC) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
#include <visp3/imgproc/vpImgproc.h>
namespace
{
vpImagePoint switchToOctantZeroFrom(const int octant, const vpImagePoint &imPt)
{
vpImagePoint imPt_switched = imPt;
switch (octant) {
case 0: // return (x, y)
imPt_switched.set_uv(imPt.get_u(), imPt.get_v());
break;
case 1: // return (y, x)
imPt_switched.set_uv(imPt.get_v(), imPt.get_u());
break;
case 2: // return (y, -x)
imPt_switched.set_uv(imPt.get_v(), -imPt.get_u());
break;
case 3: // return (-x, y)
imPt_switched.set_uv(-imPt.get_u(), imPt.get_v());
break;
case 4: // return (-x, -y)
imPt_switched.set_uv(-imPt.get_u(), -imPt.get_v());
break;
case 5: // return (-y, -x)
imPt_switched.set_uv(-imPt.get_v(), -imPt.get_u());
break;
case 6: // return (-y, x)
imPt_switched.set_uv(-imPt.get_v(), imPt.get_u());
break;
case 7: // return (x, -y)
imPt_switched.set_uv(imPt.get_u(), -imPt.get_v());
break;
default:
break;
}
return imPt_switched;
}
vpImagePoint switchFromOctantZeroTo(const int octant, const vpImagePoint &imPt)
{
vpImagePoint imPt_switched = imPt;
switch (octant) {
case 0: // return (x, y)
imPt_switched.set_uv(imPt.get_u(), imPt.get_v());
break;
case 1: // return (y, x)
imPt_switched.set_uv(imPt.get_v(), imPt.get_u());
break;
case 2: // return (-y, x)
imPt_switched.set_uv(-imPt.get_v(), imPt.get_u());
break;
case 3: // return (-x, y)
imPt_switched.set_uv(-imPt.get_u(), imPt.get_v());
break;
case 4: // return (-x, -y)
imPt_switched.set_uv(-imPt.get_u(), -imPt.get_v());
break;
case 5: // return (-y, -x)
imPt_switched.set_uv(-imPt.get_v(), -imPt.get_u());
break;
case 6: // return (y, -x)
imPt_switched.set_uv(imPt.get_v(), -imPt.get_u());
break;
case 7: // return (x, -y)
imPt_switched.set_uv(imPt.get_u(), -imPt.get_v());
break;
default:
break;
}
return imPt_switched;
}
int getOctant(const vpImagePoint &imPt1, const vpImagePoint &imPt2)
{
double dx = imPt2.get_u() - imPt1.get_u();
double dy = imPt2.get_v() - imPt1.get_v();
if (dx >= 0 && dy >= 0) {
if (dy >= dx) {
return 1;
} else {
return 0;
}
} else if (dx < 0 && dy >= 0) {
if (-dx >= dy) {
return 3;
} else {
return 2;
}
} else if (dx < 0 && dy < 0) {
if (dy <= dx) {
return 5;
} else {
return 4;
}
} else {
if (dx >= -dy) {
return 7;
} else {
return 6;
}
}
}
void drawLine(vpImage<unsigned char> &I, const unsigned char value, const vpImagePoint &imPt1_,
const vpImagePoint &imPt2_)
{
vpImagePoint imPt1((int)imPt1_.get_v(), (int)imPt1_.get_u());
vpImagePoint imPt2((int)imPt2_.get_v(), (int)imPt2_.get_u());
int octant = getOctant(imPt1, imPt2);
imPt1 = switchToOctantZeroFrom(octant, imPt1);
imPt2 = switchToOctantZeroFrom(octant, imPt2);
double dx = imPt2.get_u() - imPt1.get_u();
double dy = imPt2.get_v() - imPt1.get_v();
double D = 2 * dy - dx;
double y = imPt1.get_v();
for (int x = (int)imPt1.get_u(); x <= (int)imPt2.get_u(); x++) {
vpImagePoint currentPt(y, x);
currentPt = switchFromOctantZeroTo(octant, currentPt);
unsigned int i = std::min(I.getHeight() - 1, (unsigned int)std::max(0.0, currentPt.get_i()));
unsigned int j = std::min(I.getWidth() - 1, (unsigned int)std::max(0.0, currentPt.get_j()));
I[i][j] = value;
if (D >= 0) {
y++;
D -= dx;
}
D += dy;
}
}
} // namespace
#endif
int main()
{
#if defined(VISP_HAVE_MODULE_IMGPROC) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
vpImage<vpRGBa> I(480, 640, vpRGBa());
#ifdef VISP_HAVE_X11
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#endif
d.init(I, 0, 0, "Paint");
std::vector<vpPolygon> polygons;
for (int i = 0; i < 3; i++) {
std::stringstream ss;
ss << "Left click to draw polygon " << i + 1 << "/3"
<< ", right click to close the shape.";
vpDisplay::displayText(I, 20, 20, ss.str(), vpColor::red);
vpPolygon polygon;
polygon.initClick(I);
polygons.push_back(polygon);
// Update the lines draw internally in the current image
}
for (size_t i = 0; i < polygons.size(); i++) {
if (polygons[i].getCorners().size() <= 1)
continue;
for (size_t j = 0; j < polygons[i].getCorners().size() - 1; j++)
drawLine(mask, 255, polygons[i].getCorners()[j], polygons[i].getCorners()[j + 1]);
drawLine(mask, 255, polygons[i].getCorners().front(), polygons[i].getCorners().back());
}
bool quit = false;
while (!quit) {
"Left click on a pixel location to fill the "
"shape, right click to quit.",
if (vpDisplay::getClick(I, ip, button, false))
{
switch (button) {
for (unsigned int cpt = 0; cpt < mask.getSize(); cpt++) {
if (mask.bitmap[cpt])
I.bitmap[cpt] = vpColor::red;
}
break;
quit = true;
break;
default:
break;
}
}
}
#endif
return EXIT_SUCCESS;
}
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 displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
Definition: vpDisplay.cpp:144
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)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
double get_j() const
Definition: vpImagePoint.h:132
double get_u() const
Definition: vpImagePoint.h:143
void set_uv(double u, double v)
Definition: vpImagePoint.h:357
double get_i() const
Definition: vpImagePoint.h:121
double get_v() const
Definition: vpImagePoint.h:154
unsigned int getWidth() const
Definition: vpImage.h:246
Type * bitmap
points toward the bitmap
Definition: vpImage.h:143
unsigned int getHeight() const
Definition: vpImage.h:188
Defines a generic 2D polygon.
Definition: vpPolygon.h:106
const std::vector< vpImagePoint > & getCorners() const
Definition: vpPolygon.h:156
void initClick(const vpImage< unsigned char > &I, unsigned int size=5, const vpColor &color=vpColor::red, unsigned int thickness=1)
Definition: vpPolygon.cpp:265
Definition: vpRGBa.h:67
VISP_EXPORT void floodFill(vpImage< unsigned char > &I, const vpImagePoint &seedPoint, const unsigned char oldValue, const unsigned char newValue, const vpImageMorphology::vpConnexityType &connexity=vpImageMorphology::CONNEXITY_4)
Definition: vpFloodFill.cpp:85