Visual Servoing Platform version 3.5.0
tutorial-count-coins.cpp
1
2
3#include <cstdlib>
4#include <iostream>
5#include <visp3/core/vpImage.h>
6#include <visp3/gui/vpDisplayGDI.h>
7#include <visp3/gui/vpDisplayOpenCV.h>
8#include <visp3/gui/vpDisplayX.h>
9#include <visp3/io/vpImageIo.h>
10
11#if defined(VISP_HAVE_MODULE_IMGPROC)
13#include <visp3/core/vpMomentObject.h>
14#include <visp3/imgproc/vpImgproc.h>
16#endif
17
18int main(int argc, char *argv[])
19{
21#if defined(VISP_HAVE_MODULE_IMGPROC) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
23
24 std::string input_filename = "coins1.pgm";
26 bool white_foreground = false;
27
28 for (int i = 1; i < argc; i++) {
29 if (std::string(argv[i]) == "--input" && i + 1 < argc) {
30 input_filename = std::string(argv[i + 1]);
31 } else if (std::string(argv[i]) == "--method" && i + 1 < argc) {
32 method = (vp::vpAutoThresholdMethod)atoi(argv[i + 1]);
33 } else if (std::string(argv[i]) == "--white_foreground") {
34 white_foreground = true;
35 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
36 std::cout << "Usage: " << argv[0]
37 << " [--input <input image>]"
38 " [--method <0: Huang, 1: Intermodes, 2: IsoData, 3: "
39 "Mean, 4: Otsu, 5: Triangle>]"
40 " [--white_foreground]"
41 " [--help]"
42 << std::endl;
43 return EXIT_SUCCESS;
44 }
45 }
46
49 vpImageIo::read(I, input_filename);
51
52#ifdef VISP_HAVE_X11
53 vpDisplayX d, d2, d3, d4, d5;
54#elif defined(VISP_HAVE_GDI)
55 vpDisplayGDI d, d2, d3, d4, d5;
56#elif defined(VISP_HAVE_OPENCV)
57 vpDisplayOpenCV d, d2, d3, d4, d5;
58#endif
59 d.init(I, 0, 0, "Coins");
60
61 vpImage<unsigned char> I_bin, I_fill;
63 I_bin = I;
64 vp::autoThreshold(I_bin, method, white_foreground ? 0 : 255, white_foreground ? 255 : 0);
66 d2.init(I_bin, I.getWidth(), 0, "Binarisation");
67
69 I_fill = I_bin;
70 vp::fillHoles(I_fill);
72 d3.init(I_fill, 0, I.getHeight() + 80, "Fill holes");
73
75 vpImage<unsigned char> I_open = I_fill;
79
81 vpImage<unsigned char> I_close = I_open;
85 d4.init(I_close, I.getWidth(), I.getHeight() + 80, "Closing");
86
88 vpImage<unsigned char> I_contours(I_close.getHeight(), I_close.getWidth());
89 for (unsigned int cpt = 0; cpt < I_close.getSize(); cpt++)
90 I_contours.bitmap[cpt] = I_close.bitmap[cpt] ? 1 : 0;
91
92 vp::vpContour vp_contours;
93 std::vector<std::vector<vpImagePoint> > contours;
94 vp::findContours(I_contours, vp_contours, contours, vp::CONTOUR_RETR_EXTERNAL);
96
98 vpImage<vpRGBa> I_draw_contours(I_contours.getHeight(), I_contours.getWidth(), vpRGBa());
99 vp::drawContours(I_draw_contours, contours, vpColor::red);
101 d5.init(I_draw_contours, 0, 2 * I.getHeight() + 80, "Contours");
102
104 vpDisplay::display(I_bin);
105 vpDisplay::display(I_fill);
106 vpDisplay::display(I_close);
107 vpDisplay::display(I_draw_contours);
108
110 int nb_coins = 0;
111 for (size_t i = 0; i < contours.size(); i++) {
112 std::vector<vpPoint> vec_p;
113
114 for (size_t j = 0; j < contours[i].size(); j++) {
115 vpPoint pt;
116 pt.set_x(contours[i][j].get_u());
117 pt.set_y(contours[i][j].get_v());
118 vec_p.push_back(pt);
119 }
120
121 vpMomentObject obj(1);
123 obj.fromVector(vec_p);
124
125 // sign(m00) depends of the contour orientation (clockwise or
126 // counter-clockwise) that's why we use fabs
127 if (std::fabs(obj.get(0, 0)) >= I.getSize() / 200) {
128 nb_coins++;
129 std::stringstream ss;
130 ss << "Coin " << nb_coins;
131
132 int centroid_x = (int)std::fabs(obj.get(1, 0) / obj.get(0, 0));
133 int centroid_y = (int)std::fabs(obj.get(0, 1) / obj.get(0, 0));
134 vpDisplay::displayText(I_draw_contours, centroid_y, centroid_x - 20, ss.str(), vpColor::red);
135 }
136 }
138
139 vpDisplay::displayText(I_draw_contours, 20, 20, "Click to quit.", vpColor::red);
140
142 vpDisplay::flush(I_bin);
143 vpDisplay::flush(I_fill);
144 vpDisplay::flush(I_close);
145 vpDisplay::flush(I_draw_contours);
146 vpDisplay::getClick(I_draw_contours);
147
148 return EXIT_SUCCESS;
149#else
150 (void)argc;
151 (void)argv;
152 return 0;
153#endif
154}
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:149
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.
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