Visual Servoing Platform version 3.6.0
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tutorial-munkres-assignment.cpp
1
2
3#include <functional>
4
5// Display
6#include <visp3/gui/vpDisplayD3D.h>
7#include <visp3/gui/vpDisplayGDI.h>
8#include <visp3/gui/vpDisplayGTK.h>
9#include <visp3/gui/vpDisplayOpenCV.h>
10#include <visp3/gui/vpDisplayX.h>
11
12#include <visp3/core/vpColor.h>
13
14// Munkres
15#include <visp3/core/vpMunkres.h>
16
17// Math
18#include <visp3/core/vpUniRand.h>
19
20int main()
21{
22#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && \
23 (!defined(_MSC_VER) || ((VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && (_MSC_VER >= 1911)))
24
25#if defined(VISP_HAVE_DISPLAY)
26 // Create base img
27 vpImage<unsigned char> I(480, 640, 255);
28
29 // Generate random points
31 vpUniRand rand{};
32 std::vector<vpImagePoint> rand_ips{};
33 while (rand_ips.size() < 10) {
34 rand_ips.emplace_back(rand.uniform(10, I.getHeight() - 10), rand.uniform(10, I.getWidth() - 10));
35 }
37
38 try {
39 // Init display
40 const auto disp_scale_type = vpDisplay::SCALE_AUTO;
41#if defined(VISP_HAVE_X11)
42 vpDisplayX d(I, disp_scale_type);
43#elif defined(VISP_HAVE_GDI)
44 vpDisplayGDI d(I, disp_scale_type);
45#elif defined(HAVE_OPENCV_HIGHGUI)
46 vpDisplayOpenCV d(I, disp_scale_type);
47#elif defined(VISP_HAVE_GTK)
48 vpDisplayGTK d(I, disp_scale_type);
49#elif defined(VISP_HAVE_D3D9)
50 vpDisplayD3D d(I, disp_scale_type);
51#else
52 std::cout << "No image viewer is available..." << std::endl;
53#endif
54 vpDisplay::setTitle(I, "Munkres Assignment Algorithm");
55
56 // Local helper to display a point in the image
57 auto display_point = [&I](const vpImagePoint &ip, const vpColor &color) {
58 I.display->displayCircle(ip, 5, color, true, 1);
59 };
60
62
63 auto disp_lane{0};
64 vpDisplay::displayText(I, 15 * ++disp_lane, 15, "Left click to add a point", vpColor::black);
65 vpDisplay::displayText(I, 15 * ++disp_lane, 15, "Middle click to continue (run Munkres)", vpColor::black);
66 vpDisplay::displayText(I, 15 * ++disp_lane, 15, "Right click to quit", vpColor::black);
67
68 std::for_each(begin(rand_ips), end(rand_ips), std::bind(display_point, std::placeholders::_1, vpColor::red));
70
71 // Ask user to clic on point
73 std::vector<vpImagePoint> user_ips{};
75 while (button != vpMouseButton::button2) {
76 vpImagePoint ip{};
77 vpDisplay::getClick(I, ip, button, true);
78 if (button == vpMouseButton::button1) {
79 user_ips.push_back(ip);
80 } else if (button == vpMouseButton::button3) {
81 return EXIT_SUCCESS;
82 }
83
84 std::for_each(begin(user_ips), end(user_ips), std::bind(display_point, std::placeholders::_1, vpColor::green));
85
87 }
89
90 // Prepare Munkres (init cost matrix with random ip / user ip distances)
92 std::vector<std::vector<double> > cost_matrix(rand_ips.size(), std::vector<double>(user_ips.size()));
93 for (auto i = 0u; i < rand_ips.size(); i++) {
94 for (auto j = 0u; j < user_ips.size(); j++) {
95 cost_matrix.at(i).at(j) = vpImagePoint::distance(rand_ips.at(i), user_ips.at(j));
96 }
97 }
99
100 // Display results
102 std::for_each(begin(rand_ips), end(rand_ips), std::bind(display_point, std::placeholders::_1, vpColor::red));
103 std::for_each(begin(user_ips), end(user_ips), std::bind(display_point, std::placeholders::_1, vpColor::green));
104
106 for (const auto &[i, j] : vpMunkres::run(cost_matrix)) {
107 I.display->displayLine(rand_ips.at(i), user_ips.at(j), vpColor::blue, 1);
108 }
110
111 vpDisplay::displayText(I, 15, 15, "Click to quit", vpColor::black);
114
115 } catch (const vpException &e) {
116 std::cout << "Catch an exception: " << e << std::endl;
117 }
118#endif // defined(VISP_HAVE_DISPLAY)
119#endif
120 return EXIT_SUCCESS;
121}
Class to define RGB colors available for display functionalities.
Definition vpColor.h:152
static const vpColor red
Definition vpColor.h:211
static const vpColor black
Definition vpColor.h:205
static const vpColor blue
Definition vpColor.h:217
static const vpColor green
Definition vpColor.h:214
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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:132
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void displayCircle(const vpImage< unsigned char > &I, const vpImageCircle &circle, const vpColor &color, bool fill=false, unsigned int thickness=1)
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 setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
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
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
vpDisplay * display
Definition vpImage.h:140
Class for generating random numbers with uniform probability density.
Definition vpUniRand.h:122