Visual Servoing Platform version 3.6.0
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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(HAVE_OPENCV_HIGHGUI)
#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:211
Display for windows using GDI (available on any windows 32 platform).
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
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)
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 ...
double get_j() const
double get_u() const
void set_uv(double u, double v)
double get_i() const
double get_v() const
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
Type * bitmap
points toward the bitmap
Definition vpImage.h:139
unsigned int getHeight() const
Definition vpImage.h:184
Defines a generic 2D polygon.
Definition vpPolygon.h:97
const std::vector< vpImagePoint > & getCorners() const
Definition vpPolygon.h:147
void initClick(const vpImage< unsigned char > &I, unsigned int size=5, const vpColor &color=vpColor::red, unsigned int thickness=1)
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)