1 //! \example tutorial-blob-auto-tracker.cpp
2 #include <visp3/blob/vpDot2.h>
3 #include <visp3/gui/vpDisplayGDI.h>
4 #include <visp3/gui/vpDisplayOpenCV.h>
5 #include <visp3/gui/vpDisplayX.h>
6 #include <visp3/io/vpImageIo.h>
7
main()8 int main()
9 {
10 try {
11 bool learn = false;
12 vpImage<unsigned char> I; // Create a gray level image container
13
14 vpImageIo::read(I, "./target.pgm");
15
16 #if defined(VISP_HAVE_X11)
17 vpDisplayX d(I, 0, 0, "Camera view");
18 #elif defined(VISP_HAVE_GDI)
19 vpDisplayGDI d(I, 0, 0, "Camera view");
20 #elif defined(VISP_HAVE_OPENCV)
21 vpDisplayOpenCV d(I, 0, 0, "Camera view");
22 #else
23 std::cout << "No image viewer is available..." << std::endl;
24 #endif
25 vpDisplay::display(I);
26 vpDisplay::flush(I);
27
28 //! [Construction]
29 vpDot2 blob;
30 //! [Construction]
31 //! [Learn]
32 if (learn) {
33 // Learn the characteristics of the blob to auto detect
34 blob.setGraphics(true);
35 blob.setGraphicsThickness(1);
36 blob.initTracking(I);
37 blob.track(I);
38 std::cout << "Blob characteristics: " << std::endl;
39 std::cout << " width : " << blob.getWidth() << std::endl;
40 std::cout << " height: " << blob.getHeight() << std::endl;
41 #if VISP_VERSION_INT > VP_VERSION_INT(2, 7, 0)
42 std::cout << " area: " << blob.getArea() << std::endl;
43 #endif
44 std::cout << " gray level min: " << blob.getGrayLevelMin() << std::endl;
45 std::cout << " gray level max: " << blob.getGrayLevelMax() << std::endl;
46 std::cout << " grayLevelPrecision: " << blob.getGrayLevelPrecision() << std::endl;
47 std::cout << " sizePrecision: " << blob.getSizePrecision() << std::endl;
48 std::cout << " ellipsoidShapePrecision: " << blob.getEllipsoidShapePrecision() << std::endl;
49 }
50 //! [Learn]
51 //! [Setting]
52 else {
53 // Set blob characteristics for the auto detection
54 blob.setWidth(50);
55 blob.setHeight(50);
56 #if VISP_VERSION_INT > VP_VERSION_INT(2, 7, 0)
57 blob.setArea(1700);
58 #endif
59 blob.setGrayLevelMin(0);
60 blob.setGrayLevelMax(30);
61 blob.setGrayLevelPrecision(0.8);
62 blob.setSizePrecision(0.65);
63 blob.setEllipsoidShapePrecision(0.65);
64 }
65 //! [Setting]
66
67 //! [Search]
68 std::list<vpDot2> blob_list;
69 blob.searchDotsInArea(I, 0, 0, I.getWidth(), I.getHeight(), blob_list);
70 //! [Search]
71
72 //! [Add learned dot]
73 if (learn) {
74 // The blob that is tracked by initTracking() is not in the list of auto
75 // detected blobs We add it:
76 blob_list.push_back(blob);
77 }
78 //! [Add learned dot]
79 std::cout << "Number of auto detected blob: " << blob_list.size() << std::endl;
80 std::cout << "A click to exit..." << std::endl;
81
82 while (1) {
83 vpDisplay::display(I);
84
85 //! [Display]
86 for (std::list<vpDot2>::iterator it = blob_list.begin(); it != blob_list.end(); ++it) {
87 (*it).setGraphics(true);
88 (*it).setGraphicsThickness(3);
89 (*it).track(I);
90 }
91 //! [Display]
92
93 vpDisplay::flush(I);
94
95 if (vpDisplay::getClick(I, false))
96 break;
97
98 vpTime::wait(40);
99 }
100 } catch (const vpException &e) {
101 std::cout << "Catch an exception: " << e << std::endl;
102 }
103 }
104