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//! \example tutorial-blob-auto-tracker.cpp
#include <visp3/blob/vpDot2.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
int main()
{
try {
bool learn = false;
vpImage<unsigned char> I; // Create a gray level image container
vpImageIo::read(I, "./target.pgm");
#if defined(VISP_HAVE_X11)
vpDisplayX d(I, 0, 0, "Camera view");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d(I, 0, 0, "Camera view");
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV d(I, 0, 0, "Camera view");
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
vpDisplay::display(I);
vpDisplay::flush(I);
//! [Construction]
vpDot2 blob;
//! [Construction]
//! [Learn]
if (learn) {
// Learn the characteristics of the blob to auto detect
blob.setGraphics(true);
blob.setGraphicsThickness(1);
blob.initTracking(I);
blob.track(I);
std::cout << "Blob characteristics: " << std::endl;
std::cout << " width : " << blob.getWidth() << std::endl;
std::cout << " height: " << blob.getHeight() << std::endl;
#if VISP_VERSION_INT > VP_VERSION_INT(2, 7, 0)
std::cout << " area: " << blob.getArea() << std::endl;
#endif
std::cout << " gray level min: " << blob.getGrayLevelMin() << std::endl;
std::cout << " gray level max: " << blob.getGrayLevelMax() << std::endl;
std::cout << " grayLevelPrecision: " << blob.getGrayLevelPrecision() << std::endl;
std::cout << " sizePrecision: " << blob.getSizePrecision() << std::endl;
std::cout << " ellipsoidShapePrecision: " << blob.getEllipsoidShapePrecision() << std::endl;
}
//! [Learn]
//! [Setting]
else {
// Set blob characteristics for the auto detection
blob.setWidth(50);
blob.setHeight(50);
#if VISP_VERSION_INT > VP_VERSION_INT(2, 7, 0)
blob.setArea(1700);
#endif
blob.setGrayLevelMin(0);
blob.setGrayLevelMax(30);
blob.setGrayLevelPrecision(0.8);
blob.setSizePrecision(0.65);
blob.setEllipsoidShapePrecision(0.65);
}
//! [Setting]
//! [Search]
std::list<vpDot2> blob_list;
blob.searchDotsInArea(I, 0, 0, I.getWidth(), I.getHeight(), blob_list);
//! [Search]
//! [Add learned dot]
if (learn) {
// The blob that is tracked by initTracking() is not in the list of auto
// detected blobs We add it:
blob_list.push_back(blob);
}
//! [Add learned dot]
std::cout << "Number of auto detected blob: " << blob_list.size() << std::endl;
std::cout << "A click to exit..." << std::endl;
while (1) {
vpDisplay::display(I);
//! [Display]
for (std::list<vpDot2>::iterator it = blob_list.begin(); it != blob_list.end(); ++it) {
(*it).setGraphics(true);
(*it).setGraphicsThickness(3);
(*it).track(I);
}
//! [Display]
vpDisplay::flush(I);
if (vpDisplay::getClick(I, false))
break;
vpTime::wait(40);
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
}
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