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//! \example tutorial-munkres-assignment.cpp
#include <functional>
// Display
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/core/vpColor.h>
// Munkres
#include <visp3/core/vpMunkres.h>
// Math
#include <visp3/core/vpUniRand.h>
int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && \
(!defined(_MSC_VER) || ((VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && (_MSC_VER >= 1911)))
#if defined(VISP_HAVE_DISPLAY)
// Create base img
vpImage<unsigned char> I(480, 640, 255);
// Generate random points
//! [Rand_Img_Pts]
vpUniRand rand{};
std::vector<vpImagePoint> rand_ips{};
while (rand_ips.size() < 10) {
rand_ips.emplace_back(rand.uniform(10, I.getHeight() - 10), rand.uniform(10, I.getWidth() - 10));
}
//! [Rand_Img_Pts]
try {
// Init display
const auto disp_scale_type = vpDisplay::SCALE_AUTO;
#if defined(VISP_HAVE_X11)
vpDisplayX d(I, disp_scale_type);
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d(I, disp_scale_type);
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV d(I, disp_scale_type);
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK d(I, disp_scale_type);
#elif defined(VISP_HAVE_D3D9)
vpDisplayD3D d(I, disp_scale_type);
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpDisplay::setTitle(I, "Munkres Assignment Algorithm");
// Local helper to display a point in the image
auto display_point = [&I](const vpImagePoint &ip, const vpColor &color) {
I.display->displayCircle(ip, 5, color, true, 1);
};
vpDisplay::display(I);
auto disp_lane{0};
vpDisplay::displayText(I, 15 * ++disp_lane, 15, "Left click to add a point", vpColor::black);
vpDisplay::displayText(I, 15 * ++disp_lane, 15, "Middle click to continue (run Munkres)", vpColor::black);
vpDisplay::displayText(I, 15 * ++disp_lane, 15, "Right click to quit", vpColor::black);
std::for_each(begin(rand_ips), end(rand_ips), std::bind(display_point, std::placeholders::_1, vpColor::red));
vpDisplay::flush(I);
// Ask user to clic on point
//! [User_Img_Pts]
std::vector<vpImagePoint> user_ips{};
vpMouseButton::vpMouseButtonType button{};
while (button != vpMouseButton::button2) {
vpImagePoint ip{};
vpDisplay::getClick(I, ip, button, true);
if (button == vpMouseButton::button1) {
user_ips.push_back(ip);
} else if (button == vpMouseButton::button3) {
return EXIT_SUCCESS;
}
std::for_each(begin(user_ips), end(user_ips), std::bind(display_point, std::placeholders::_1, vpColor::green));
vpDisplay::flush(I);
}
//! [User_Img_Pts]
// Prepare Munkres (init cost matrix with random ip / user ip distances)
//! [Cost_Matrix]
std::vector<std::vector<double> > cost_matrix(rand_ips.size(), std::vector<double>(user_ips.size()));
for (auto i = 0u; i < rand_ips.size(); i++) {
for (auto j = 0u; j < user_ips.size(); j++) {
cost_matrix.at(i).at(j) = vpImagePoint::distance(rand_ips.at(i), user_ips.at(j));
}
}
//! [Cost_Matrix]
// Display results
vpDisplay::display(I);
std::for_each(begin(rand_ips), end(rand_ips), std::bind(display_point, std::placeholders::_1, vpColor::red));
std::for_each(begin(user_ips), end(user_ips), std::bind(display_point, std::placeholders::_1, vpColor::green));
//! [Run]
for (const auto &[i, j] : vpMunkres::run(cost_matrix)) {
I.display->displayLine(rand_ips.at(i), user_ips.at(j), vpColor::blue, 1);
}
//! [Run]
vpDisplay::displayText(I, 15, 15, "Click to quit", vpColor::black);
vpDisplay::flush(I);
vpDisplay::getClick(I);
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#endif // defined(VISP_HAVE_DISPLAY)
#endif
return EXIT_SUCCESS;
}
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