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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*/
#include "vpTutoSegmentation.h"
#include <visp3/core/vpGaussRand.h>
#include <visp3/core/vpHSV.h>
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#ifndef DOXYGEN_SHOULD_SKIP_THIS
namespace tutorial
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
void performSegmentationHSV(vpTutoCommonData &data)
{
vpImage<vpHSV<unsigned char, true>> Ihsv;
vpImageConvert::convert(data.m_I_orig, Ihsv);
vpImageTools::inRange(Ihsv, data.m_hsv_values, data.m_mask);
vpImageTools::inMask(data.m_I_orig, data.m_mask, data.m_I_segmented);
}
std::vector< VISP_NAMESPACE_ADDRESSING vpImagePoint > extractSkeleton(vpTutoCommonData &data)
{
const int height = data.m_mask.getHeight();
const int width = data.m_mask.getWidth();
data.m_Iskeleton.resize(height, width, 0);
std::vector<vpImagePoint> points;
// Edge thinning along the horizontal direction
for (int y = 0; y < height; ++y) {
int left = -1;
for (int x = 0; x < width - 1; ++x) {
if ((data.m_mask[y][x] > 0) && (data.m_mask[y][x + 1] > 0)) {
if (left < 0) {
left = x;
}
}
else if (data.m_mask[y][x] > 0) {
int cx = x; // Case 1 pix wide
if (left >= 0) {
// Case more than 1 pix wide
cx = static_cast<int>(((left + x) - 1) * 0.5f);
}
vpImagePoint pt(y, cx);
points.push_back(pt);
data.m_Iskeleton[y][cx] = 255;
left = -1;
}
}
}
// Edge thinning along the vertical direction
for (int x = 0; x < width; ++x) {
int top = -1;
for (int y = 0; y < height - 1; ++y) {
if ((data.m_mask[y][x] > 0) && (data.m_mask[y + 1][x] > 0)) {
if (top < 0) {
top = y;
}
}
else if (data.m_mask[y][x] > 0) {
int cy = y; // Case 1 pix wide
if (top >= 0) {
cy = static_cast<int>(((top + y) - 1) * 0.5f); // Case more than 1 pix wide
}
if (data.m_Iskeleton[cy][x] == 0) {
vpImagePoint pt(cy, x);
points.push_back(pt);
data.m_Iskeleton[cy][x] = 255;
}
top = -1;
}
}
}
return points;
}
std::vector< vpImagePoint > addSaltAndPepperNoise(const std::vector< vpImagePoint > &noisefreePts, vpTutoCommonData &data)
{
const unsigned int nbNoiseFreePts = static_cast<unsigned int>(noisefreePts.size());
const unsigned int nbPtsToAdd = static_cast<unsigned int>(data.m_ratioSaltPepperNoise * nbNoiseFreePts);
const double width = data.m_Iskeleton.getWidth();
const double height = data.m_Iskeleton.getHeight();
data.m_IskeletonNoisy = data.m_Iskeleton;
vpGaussRand rngX(0.1666, 0.5, static_cast<long>(vpTime::measureTimeMicros()));
vpGaussRand rngY(0.1666, 0.5, static_cast<long>(vpTime::measureTimeMicros() + 4224));
std::vector<vpImagePoint> noisyPts = noisefreePts;
for (unsigned int i = 0; i < nbPtsToAdd + 1; ++i) {
double uNormalized = rngX();
double vNormalized = rngY();
// Clamp to interval[0, 1[
uNormalized = std::max(uNormalized, 0.);
uNormalized = std::min(uNormalized, 0.99999);
vNormalized = std::max(vNormalized, 0.);
vNormalized = std::min(vNormalized, 0.99999);
// Scale to image size
double u = uNormalized * width;
double v = vNormalized * height;
// Create corresponding image point
vpImagePoint pt(v, u);
noisyPts.push_back(pt);
data.m_IskeletonNoisy[static_cast<int>(v)][static_cast<int>(u)] = 255;
}
return noisyPts;
}
}
#endif
#else
void dummy_vpTutoSegmentation() { }
#endif
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