Rename tuner tutorial and introduce a new tutorial to explain the HSV…

… segmentation basics
lagadic · Apr 3, 2024 · 3555dbc · 3555dbc
1 parent 9951438
commit 3555dbc
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Showing 4 changed files with 72 additions and 9 deletions.
diff --git a/tutorial/segmentation/color/CMakeLists.txt b/tutorial/segmentation/color/CMakeLists.txt
@@ -6,15 +6,23 @@ find_package(VISP REQUIRED visp_core visp_sensor visp_io visp_gui)
 
 # set the list of source files
 set(tutorial_cpp
+  tutorial-hsv-range-tuner.cpp
   tutorial-hsv-segmentation.cpp
+  tutorial-hsv-segmentation-basic.cpp
   tutorial-hsv-segmentation-pcl.cpp
   tutorial-hsv-segmentation-pcl-viewer.cpp
-  tutorial-hsv-tuner.cpp
 )
 
+file(GLOB tutorial_data "*.jpg")
+
 foreach(cpp ${tutorial_cpp})
   visp_add_target(${cpp})
   if(COMMAND visp_add_dependency)
     visp_add_dependency(${cpp} "tutorials")
   endif()
 endforeach()
+
+# Copy the data files to the same location than the target
+foreach(data ${tutorial_data})
+  visp_copy_data(tutorial-hsv-segmentation-basic.cpp ${data})
+endforeach()
diff --git a/tutorial/segmentation/color/ballons.jpg b/tutorial/segmentation/color/ballons.jpg
diff --git a/...segmentation/color/tutorial-hsv-tuner.cpp → ...tation/color/tutorial-hsv-range-tuner.cpp b/...segmentation/color/tutorial-hsv-tuner.cpp → ...tation/color/tutorial-hsv-range-tuner.cpp
@@ -1,4 +1,4 @@
-//! \example tutorial-hsv-tuner.cpp
+//! \example tutorial-hsv-range-tuner.cpp
 
 #include <iostream>
 
@@ -158,10 +158,11 @@ int main(int argc, char *argv[])
   vpImage<unsigned char> H(height, width);
   vpImage<unsigned char> S(height, width);
   vpImage<unsigned char> V(height, width);
-  vpImage<unsigned char> Ic_segmented(height, width, 0);
+  vpImage<unsigned char> mask(height, width);
+  vpImage<vpRGBa> Ic_segmented(height, width);
 
   vpDisplayX d_Ic(Ic, 0, 0, "Current frame");
-  vpDisplayX d_Ic_segmented(Ic_segmented, Ic.getWidth()+75, 0, "HSV segmented frame");
+  vpDisplayX d_Ic_segmented(Ic_segmented, Ic.getWidth()+75, 0, "Segmented frame");
   bool quit = false;
 
   while (!quit) {
@@ -172,11 +173,13 @@ int main(int argc, char *argv[])
                               reinterpret_cast<unsigned char *>(V.bitmap), Ic.getSize());
 
     vpImageTools::inRange(reinterpret_cast<unsigned char *>(H.bitmap),
-                          reinterpret_cast<unsigned char *>(S.bitmap),
-                          reinterpret_cast<unsigned char *>(V.bitmap),
-                          hsv_values_trackbar,
-                          reinterpret_cast<unsigned char *>(Ic_segmented.bitmap),
-                          Ic_segmented.getSize());
+                                                reinterpret_cast<unsigned char *>(S.bitmap),
+                                                reinterpret_cast<unsigned char *>(V.bitmap),
+                                                hsv_values_trackbar,
+                                                reinterpret_cast<unsigned char *>(mask.bitmap),
+                                                mask.getSize());
+
+    vpImageTools::inMask(Ic, mask, Ic_segmented);
 
     vpDisplay::display(Ic);
     vpDisplay::display(Ic_segmented);

diff --git a/tutorial/segmentation/color/tutorial-hsv-segmentation-basic.cpp b/tutorial/segmentation/color/tutorial-hsv-segmentation-basic.cpp
@@ -0,0 +1,52 @@
+#include <visp3/io/vpImageIo.h>
+#include <visp3/core/vpImageConvert.h>
+#include <visp3/core/vpImageTools.h>
+#include <visp3/gui/vpDisplayX.h>
+
+int main()
+{
+  vpImage<vpRGBa> I;
+  vpImageIo::read(I, "ballons.jpg");
+
+  unsigned int width = I.getWidth();
+  unsigned int height = I.getHeight();
+
+  vpImage<unsigned char> H(height, width);
+  vpImage<unsigned char> S(height, width);
+  vpImage<unsigned char> V(height, width);
+
+  vpImageConvert::RGBaToHSV(reinterpret_cast<unsigned char *>(I.bitmap),
+                            reinterpret_cast<unsigned char *>(H.bitmap),
+                            reinterpret_cast<unsigned char *>(S.bitmap),
+                            reinterpret_cast<unsigned char *>(V.bitmap), I.getSize());
+
+  int h = 14, s = 255, v = 209;
+  int offset = 30;
+  int h_low = std::max<int>(0, h - offset), h_high = std::min<int>(h + offset, 255);
+  int s_low = std::max<int>(0, s - offset), s_high = std::min<int>(s + offset, 255);
+  int v_low = std::max<int>(0, v - offset), v_high = std::min<int>(v + offset, 255);
+  std::vector<int> hsv_range({ h_low, h_high, s_low, s_high, v_low, v_high });
+
+  vpImage<unsigned char> mask(height, width);
+  vpImageTools::inRange(reinterpret_cast<unsigned char *>(H.bitmap),
+                        reinterpret_cast<unsigned char *>(S.bitmap),
+                        reinterpret_cast<unsigned char *>(V.bitmap),
+                        hsv_range,
+                        reinterpret_cast<unsigned char *>(mask.bitmap),
+                        mask.getSize());
+
+  vpImage<vpRGBa> I_segmented(height, width);
+  vpImageTools::inMask(I, mask, I_segmented);
+
+  vpDisplayX d_I(I, 0, 0, "Current frame");
+  vpDisplayX d_mask(mask, I.getWidth()+75, 0, "HSV mask");
+  vpDisplayX d_I_segmented(I_segmented, 2*mask.getWidth()+80, 0, "Segmented frame");
+
+  vpDisplay::display(I);
+  vpDisplay::display(mask);
+  vpDisplay::display(I_segmented);
+  vpDisplay::flush(I);
+  vpDisplay::flush(mask);
+  vpDisplay::flush(I_segmented);
+  vpDisplay::getClick(I);
+}