Visual Servoing Platform  version 3.6.1 under development (2024-05-26)
tutorial-hsv-segmentation.cpp
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpColorDepthConversion.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/sensor/vpRealSense2.h>
int main(int argc, const char *argv[])
{
#if defined(VISP_HAVE_X11)
std::string opt_hsv_filename = "calib/hsv-thresholds.yml";
std::string opt_video_filename;
bool show_helper = false;
for (int i = 1; i < argc; i++) {
if ((std::string(argv[i]) == "--hsv-thresholds") && ((i+1) < argc)) {
opt_hsv_filename = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--video") {
if ((i+1) < argc) {
opt_video_filename = std::string(argv[++i]);
}
else {
show_helper = true;
std::cout << "ERROR \nMissing input video name after parameter " << std::string(argv[i]) << std::endl;
}
}
else if (show_helper || std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nSYNOPSIS " << std::endl
<< argv[0]
<< " [--video <input video>]"
<< " [--hsv-thresholds <filename.yml>]"
<< " [--help,-h]"
<< std::endl;
std::cout << "\nOPTIONS " << std::endl
<< " --video <input video>" << std::endl
<< " Name of the input video filename." << std::endl
<< " When this option is not set, we use librealsense to stream images from a Realsense camera. " << std::endl
<< " Example: --video image-%04d.jpg" << std::endl
<< std::endl
<< " --hsv-thresholds <filename.yaml>" << std::endl
<< " Path to a yaml filename that contains H <min,max>, S <min,max>, V <min,max> threshold values." << std::endl
<< " An Example of such a file could be:" << std::endl
<< " rows: 6" << std::endl
<< " cols: 1" << std::endl
<< " data:" << std::endl
<< " - [0]" << std::endl
<< " - [42]" << std::endl
<< " - [177]" << std::endl
<< " - [237]" << std::endl
<< " - [148]" << std::endl
<< " - [208]" << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Display this helper message." << std::endl
<< std::endl;
return EXIT_SUCCESS;
}
}
bool use_realsense = false;
#if defined(VISP_HAVE_REALSENSE2)
use_realsense = true;
#endif
if (use_realsense) {
if (!opt_video_filename.empty()) {
use_realsense = false;
}
}
else if (opt_video_filename.empty()) {
std::cout << "Error: you should use --image <input image> option to specify an input image..." << std::endl;
return EXIT_FAILURE;
}
vpColVector hsv_values;
if (vpColVector::loadYAML(opt_hsv_filename, hsv_values)) {
std::cout << "Load HSV threshold values from " << opt_hsv_filename << std::endl;
std::cout << "HSV low/high values: " << hsv_values.t() << std::endl;
}
else {
std::cout << "Warning: unable to load HSV thresholds values from " << opt_hsv_filename << std::endl;
return EXIT_FAILURE;
}
int width = 848;
int height = 480;
#if defined(VISP_HAVE_REALSENSE2)
#endif
if (use_realsense) {
#if defined(VISP_HAVE_REALSENSE2)
int fps = 60;
rs2::config config;
config.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_RGBA8, fps);
config.disable_stream(RS2_STREAM_DEPTH);
config.disable_stream(RS2_STREAM_INFRARED, 1);
config.disable_stream(RS2_STREAM_INFRARED, 2);
rs.open(config);
rs.acquire(I);
#endif
}
else {
try {
g.setFileName(opt_video_filename);
g.open(I);
}
catch (const vpException &e) {
std::cout << e.getStringMessage() << std::endl;
return EXIT_FAILURE;
}
width = I.getWidth();
height = I.getHeight();
}
vpImage<unsigned char> H(height, width);
vpImage<unsigned char> S(height, width);
vpImage<unsigned char> V(height, width);
vpImage<unsigned char> mask(height, width);
vpImage<vpRGBa> I_segmented(height, width);
vpDisplayX d_I(I, 0, 0, "Current frame");
vpDisplayX d_I_segmented(I_segmented, I.getWidth()+75, 0, "HSV segmented frame");
bool quit = false;
double loop_time = 0., total_loop_time = 0.;
long nb_iter = 0;
while (!quit) {
double t = vpTime::measureTimeMs();
if (use_realsense) {
#if defined(VISP_HAVE_REALSENSE2)
rs.acquire(I);
#endif
}
else {
if (!g.end()) {
g.acquire(I);
}
}
vpImageConvert::RGBaToHSV(reinterpret_cast<unsigned char *>(I.bitmap),
reinterpret_cast<unsigned char *>(H.bitmap),
reinterpret_cast<unsigned char *>(S.bitmap),
reinterpret_cast<unsigned char *>(V.bitmap), I.getSize());
vpImageTools::inRange(reinterpret_cast<unsigned char *>(H.bitmap),
reinterpret_cast<unsigned char *>(S.bitmap),
reinterpret_cast<unsigned char *>(V.bitmap),
hsv_values,
reinterpret_cast<unsigned char *>(mask.bitmap),
mask.getSize());
vpImageTools::inMask(I, mask, I_segmented);
vpDisplay::display(I_segmented);
vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::red);
if (vpDisplay::getClick(I, false)) {
quit = true;
}
vpDisplay::flush(I_segmented);
nb_iter++;
loop_time = vpTime::measureTimeMs() - t;
total_loop_time += loop_time;
}
std::cout << "Mean loop time: " << total_loop_time / nb_iter << std::endl;
#else
(void)argc;
(void)argv;
std::cout << "This tutorial needs X11 3rdparty that is not enabled" << std::endl;
#endif
return EXIT_SUCCESS;
}
static bool loadYAML(const std::string &filename, vpArray2D< double > &A, char *header=nullptr)
Definition: vpArray2D.h:772
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
vpRowVector t() const
static const vpColor red
Definition: vpColor.h:211
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:128
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)
error that can be emitted by ViSP classes.
Definition: vpException.h:59
const std::string & getStringMessage() const
Definition: vpException.cpp:66
static void RGBaToHSV(const unsigned char *rgba, double *hue, double *saturation, double *value, unsigned int size)
static int inMask(const vpImage< unsigned char > &I, const vpImage< unsigned char > &mask, vpImage< unsigned char > &I_mask)
static int inRange(const unsigned char *hue, const unsigned char *saturation, const unsigned char *value, const vpColVector &hsv_range, unsigned char *mask, unsigned int size)
unsigned int getWidth() const
Definition: vpImage.h:245
unsigned int getSize() const
Definition: vpImage.h:224
Type * bitmap
points toward the bitmap
Definition: vpImage.h:139
unsigned int getHeight() const
Definition: vpImage.h:184
void acquire(vpImage< unsigned char > &grey, double *ts=nullptr)
bool open(const rs2::config &cfg=rs2::config())
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
VISP_EXPORT double measureTimeMs()