Visual Servoing Platform version 3.5.0
tutorial-image-filter.cpp
1
2
3#include <visp3/core/vpImageFilter.h>
4#include <visp3/gui/vpDisplayD3D.h>
5#include <visp3/gui/vpDisplayGDI.h>
6#include <visp3/gui/vpDisplayGTK.h>
7#include <visp3/gui/vpDisplayOpenCV.h>
8#include <visp3/gui/vpDisplayX.h>
9#include <visp3/io/vpImageIo.h>
10
11void display(vpImage<unsigned char> &I, const std::string &title);
12void display(vpImage<double> &D, const std::string &title);
13
14void display(vpImage<unsigned char> &I, const std::string &title)
15{
16#if defined(VISP_HAVE_X11)
17 vpDisplayX d(I);
18#elif defined(VISP_HAVE_OPENCV)
19 vpDisplayOpenCV d(I);
20#elif defined(VISP_HAVE_GTK)
21 vpDisplayGTK d(I);
22#elif defined(VISP_HAVE_GDI)
23 vpDisplayGDI d(I);
24#elif defined(VISP_HAVE_D3D9)
25 vpDisplayD3D d(I);
26#else
27 std::cout << "No image viewer is available..." << std::endl;
28#endif
29
30 vpDisplay::setTitle(I, title.c_str());
32 vpDisplay::displayText(I, 15, 15, "Click to continue...", vpColor::red);
35}
36
37void display(vpImage<double> &D, const std::string &title)
38{
39 vpImage<unsigned char> I; // Image to display
41 display(I, title);
42}
43
44int main(int argc, char **argv)
45{
46 try {
47 if (argc != 2) {
48 printf("Usage: %s <image name.[pgm,ppm,jpeg,png,bmp]>\n", argv[0]);
49 return -1;
50 }
54
55 try {
56 vpImageIo::read(I, argv[1]);
57 } catch (...) {
58 std::cout << "Cannot read image \"" << argv[1] << "\"" << std::endl;
59 return -1;
60 }
61
62 display(I, "Original image");
63
68 display(F, "Blur (default)");
69
71 display(F, "Blur (var=2)");
72
77 display(dIx, "Gradient dIx");
78
83 display(dIy, "Gradient dIy");
84
86#if (VISP_HAVE_OPENCV_VERSION >= 0x020100)
88 vpImageFilter::canny(I, C, 5, 15, 3);
89 display(C, "Canny");
90#endif
92
94 vpMatrix K(3, 3); // Sobel kernel along x
95 K[0][0] = 1;
96 K[0][1] = 0;
97 K[0][2] = -1;
98 K[1][0] = 2;
99 K[1][1] = 0;
100 K[1][2] = -2;
101 K[2][0] = 1;
102 K[2][1] = 0;
103 K[2][2] = -1;
107 vpImageFilter::filter(I, Gx, K);
109 display(Gx, "Sobel x");
110
112 size_t nlevel = 3;
113 std::vector<vpImage<unsigned char> > pyr(nlevel);
114 pyr[0] = I;
115 for (size_t i = 1; i < nlevel; i++) {
116 vpImageFilter::getGaussPyramidal(pyr[i - 1], pyr[i]);
117 display(pyr[i], "Pyramid");
118 }
120 return 0;
121 } catch (const vpException &e) {
122 std::cout << "Catch an exception: " << e << std::endl;
123 return 1;
124 }
125}
static const vpColor red
Definition: vpColor.h:217
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Definition: vpDisplayD3D.h:107
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
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)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static void filter(const vpImage< double > &I, vpImage< double > &Iu, vpImage< double > &Iv, const vpMatrix &M, bool convolve=false)
static void getGradX(const vpImage< unsigned char > &I, vpImage< double > &dIx)
static void gaussianBlur(const vpImage< unsigned char > &I, vpImage< double > &GI, unsigned int size=7, double sigma=0., bool normalize=true)
static void canny(const vpImage< unsigned char > &I, vpImage< unsigned char > &Ic, unsigned int gaussianFilterSize, double thresholdCanny, unsigned int apertureSobel)
static void getGradY(const vpImage< unsigned char > &I, vpImage< double > &dIy)
static void getGaussPyramidal(const vpImage< unsigned char > &I, vpImage< unsigned char > &GI)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154