Visual Servoing Platform version 3.5.0
tutorial-blob-auto-tracker.cpp
1
2#include <visp3/blob/vpDot2.h>
3#include <visp3/gui/vpDisplayGDI.h>
4#include <visp3/gui/vpDisplayOpenCV.h>
5#include <visp3/gui/vpDisplayX.h>
6#include <visp3/io/vpImageIo.h>
7
8int main()
9{
10 try {
11 bool learn = false;
12 vpImage<unsigned char> I; // Create a gray level image container
13
14 vpImageIo::read(I, "./target.pgm");
15
16#if defined(VISP_HAVE_X11)
17 vpDisplayX d(I, 0, 0, "Camera view");
18#elif defined(VISP_HAVE_GDI)
19 vpDisplayGDI d(I, 0, 0, "Camera view");
20#elif defined(VISP_HAVE_OPENCV)
21 vpDisplayOpenCV d(I, 0, 0, "Camera view");
22#else
23 std::cout << "No image viewer is available..." << std::endl;
24#endif
27
29 vpDot2 blob;
32 if (learn) {
33 // Learn the characteristics of the blob to auto detect
34 blob.setGraphics(true);
36 blob.initTracking(I);
37 blob.track(I);
38 std::cout << "Blob characteristics: " << std::endl;
39 std::cout << " width : " << blob.getWidth() << std::endl;
40 std::cout << " height: " << blob.getHeight() << std::endl;
41#if VISP_VERSION_INT > VP_VERSION_INT(2, 7, 0)
42 std::cout << " area: " << blob.getArea() << std::endl;
43#endif
44 std::cout << " gray level min: " << blob.getGrayLevelMin() << std::endl;
45 std::cout << " gray level max: " << blob.getGrayLevelMax() << std::endl;
46 std::cout << " grayLevelPrecision: " << blob.getGrayLevelPrecision() << std::endl;
47 std::cout << " sizePrecision: " << blob.getSizePrecision() << std::endl;
48 std::cout << " ellipsoidShapePrecision: " << blob.getEllipsoidShapePrecision() << std::endl;
49 }
52 else {
53 // Set blob characteristics for the auto detection
54 blob.setWidth(50);
55 blob.setHeight(50);
56#if VISP_VERSION_INT > VP_VERSION_INT(2, 7, 0)
57 blob.setArea(1700);
58#endif
59 blob.setGrayLevelMin(0);
60 blob.setGrayLevelMax(30);
61 blob.setGrayLevelPrecision(0.8);
62 blob.setSizePrecision(0.65);
64 }
66
68 std::list<vpDot2> blob_list;
69 blob.searchDotsInArea(I, 0, 0, I.getWidth(), I.getHeight(), blob_list);
71
73 if (learn) {
74 // The blob that is tracked by initTracking() is not in the list of auto
75 // detected blobs We add it:
76 blob_list.push_back(blob);
77 }
79 std::cout << "Number of auto detected blob: " << blob_list.size() << std::endl;
80 std::cout << "A click to exit..." << std::endl;
81
82 while (1) {
84
86 for (std::list<vpDot2>::iterator it = blob_list.begin(); it != blob_list.end(); ++it) {
87 (*it).setGraphics(true);
88 (*it).setGraphicsThickness(3);
89 (*it).track(I);
90 }
92
94
95 if (vpDisplay::getClick(I, false))
96 break;
97
98 vpTime::wait(40);
99 }
100 } catch (const vpException &e) {
101 std::cout << "Catch an exception: " << e << std::endl;
102 }
103}
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
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)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
Definition: vpDot2.h:127
unsigned int getGrayLevelMin() const
Definition: vpDot2.h:220
unsigned int getGrayLevelMax() const
Definition: vpDot2.h:226
void track(const vpImage< unsigned char > &I, bool canMakeTheWindowGrow=true)
Definition: vpDot2.cpp:441
void setGraphics(bool activate)
Definition: vpDot2.h:314
void setGraphicsThickness(unsigned int t)
Definition: vpDot2.h:321
double getEllipsoidShapePrecision() const
Definition: vpDot2.cpp:660
void searchDotsInArea(const vpImage< unsigned char > &I, int area_u, int area_v, unsigned int area_w, unsigned int area_h, std::list< vpDot2 > &niceDots)
Definition: vpDot2.cpp:979
void setGrayLevelMax(const unsigned int &max)
Definition: vpDot2.h:351
double getArea() const
Definition: vpDot2.cpp:637
void setSizePrecision(const double &sizePrecision)
Definition: vpDot2.cpp:763
void setGrayLevelPrecision(const double &grayLevelPrecision)
Definition: vpDot2.cpp:735
void setGrayLevelMin(const unsigned int &min)
Definition: vpDot2.h:334
void setHeight(const double &height)
Definition: vpDot2.cpp:704
double getSizePrecision() const
Definition: vpDot2.cpp:651
double getGrayLevelPrecision() const
Definition: vpDot2.cpp:644
void setWidth(const double &width)
Definition: vpDot2.cpp:692
double getWidth() const
Definition: vpDot2.cpp:623
void setEllipsoidShapePrecision(const double &ellipsoidShapePrecision)
Definition: vpDot2.cpp:806
void setArea(const double &area)
Definition: vpDot2.cpp:716
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Definition: vpDot2.cpp:253
double getHeight() const
Definition: vpDot2.cpp:630
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
VISP_EXPORT int wait(double t0, double t)