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Circle Hough Transform improvements #1499

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merged 5 commits into from
Nov 5, 2024
Merged

Circle Hough Transform improvements #1499

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23ab8df
[TUTO][CLEAN] Improved display management in Circle Hough Transform t…
Oct 29, 2024
6987f02
Merge branch 'master' into tuto_cht
Nov 4, 2024
e295b25
Merge branch 'master' into tuto_cht
Nov 5, 2024
aed02ab
[FIX] Fixed segfault when creating CHT using path towards JSON file
Nov 5, 2024
18e43f8
[FIX] Protect vpDisplayFactory::createDisplay by checking c++ standard
Nov 5, 2024
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2 changes: 2 additions & 0 deletions modules/imgproc/src/vpCircleHoughTransform_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,7 @@
using json = nlohmann::json;

vpCircleHoughTransform::vpCircleHoughTransform(const std::string &jsonPath)
: mp_mask(nullptr)

Check warning on line 94 in modules/imgproc/src/vpCircleHoughTransform_common.cpp

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modules/imgproc/src/vpCircleHoughTransform_common.cpp#L94 

Added line #L94 was not covered by tests
{
initFromJSON(jsonPath);
}
Expand Down Expand Up @@ -413,6 +414,7 @@
operator<<(std::ostream &os, const vpCircleHoughTransform &detector)
{
os << detector.toString();
std::cout << "\tUse mask: " << (detector.mp_mask == nullptr ? "false" : "true") << std::endl;

Check warning on line 417 in modules/imgproc/src/vpCircleHoughTransform_common.cpp

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modules/imgproc/src/vpCircleHoughTransform_common.cpp#L417 

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return os;
}

Expand Down
46 changes: 11 additions & 35 deletions tutorial/imgproc/hough-transform/drawingHelpers.cpp
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Expand Up @@ -8,38 +8,14 @@
using namespace VISP_NAMESPACE_NAME;
#endif

#if defined(VISP_HAVE_X11)
vpDisplayX drawingHelpers::d;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV drawingHelpers::d;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK drawingHelpers::d;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI drawingHelpers::d;
#elif defined(VISP_HAVE_D3D9)
vpDisplayD3D drawingHelpers::d;
#endif

vpImage<vpRGBa> drawingHelpers::I_disp;

bool drawingHelpers::display(vpImage< vpRGBa> &I, const std::string &title, const bool &blockingMode)
{
I_disp = I;
#if defined(VISP_HAVE_DISPLAY)
if (!d.isInitialised()) {
d.init(I_disp);
vpDisplay::setTitle(I_disp, title);
}
#else
(void)title;
#endif

vpDisplay::display(I_disp);
vpDisplay::displayText(I_disp, 15, 15, "Left click to continue...", vpColor::red);
vpDisplay::displayText(I_disp, 35, 15, "Right click to stop...", vpColor::red);
vpDisplay::flush(I_disp);
vpDisplay::display(I);
vpDisplay::displayText(I, 15, 15, "Left click to continue...", vpColor::red);
vpDisplay::displayText(I, 35, 15, "Right click to stop...", vpColor::red);
vpDisplay::flush(I);
vpMouseButton::vpMouseButtonType button;
vpDisplay::getClick(I_disp, button, blockingMode);
vpDisplay::getClick(I, button, blockingMode);
bool hasToContinue = true;
if (button == vpMouseButton::button3) {
// Right click => stop the program
Expand All @@ -49,18 +25,18 @@ bool drawingHelpers::display(vpImage< vpRGBa> &I, const std::string &title, cons
return hasToContinue;
}

bool drawingHelpers::display(vpImage<unsigned char> &D, const std::string &title, const bool &blockingMode)
bool drawingHelpers::display(vpImage<unsigned char> &D, vpImage<vpRGBa> &Idisp, const std::string &title, const bool &blockingMode)
{
vpImage<vpRGBa> I; // Image to display
vpImageConvert::convert(D, I);
return display(I, title, blockingMode);
vpImageConvert::convert(D, Idisp);
return display(Idisp, title, blockingMode);
}

bool drawingHelpers::display(vpImage<double> &D, const std::string &title, const bool &blockingMode)
bool drawingHelpers::display(vpImage<double> &D, vpImage<vpRGBa> &Idisp, const std::string &title, const bool &blockingMode)
{
vpImage<unsigned char> I; // Image to display
vpImageConvert::convert(D, I);
return display(I, title, blockingMode);
vpImageConvert::convert(I, Idisp);
return display(Idisp, title, blockingMode);
}

#endif
23 changes: 4 additions & 19 deletions tutorial/imgproc/hough-transform/drawingHelpers.h
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Expand Up @@ -2,31 +2,16 @@
#define DRAWING_HELPERS_H

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/core/vpImageConvert.h>

#ifndef DOXYGEN_SHOULD_SKIP_THIS
namespace drawingHelpers
{
#if defined(VISP_HAVE_X11)
extern VISP_NAMESPACE_ADDRESSING vpDisplayX d;
#elif defined(VISP_HAVE_OPENCV)
extern VISP_NAMESPACE_ADDRESSING vpDisplayOpenCV d;
#elif defined(VISP_HAVE_GTK)
extern VISP_NAMESPACE_ADDRESSING vpDisplayGTK d;
#elif defined(VISP_HAVE_GDI)
extern VISP_NAMESPACE_ADDRESSING vpDisplayGDI d;
#elif defined(VISP_HAVE_D3D9)
extern VISP_NAMESPACE_ADDRESSING vpDisplayD3D d;
#endif

extern VISP_NAMESPACE_ADDRESSING vpImage<VISP_NAMESPACE_ADDRESSING vpRGBa> I_disp;

bool display(VISP_NAMESPACE_ADDRESSING vpImage<VISP_NAMESPACE_ADDRESSING vpRGBa> &I, const std::string &title, const bool &blockingMode);
bool display(VISP_NAMESPACE_ADDRESSING vpImage<unsigned char> &I, const std::string &title, const bool &blockingMode);
bool display(VISP_NAMESPACE_ADDRESSING vpImage<double> &D, const std::string &title, const bool &blockingMode);
bool display(VISP_NAMESPACE_ADDRESSING vpImage<unsigned char> &I, VISP_NAMESPACE_ADDRESSING vpImage<VISP_NAMESPACE_ADDRESSING vpRGBa> &Idisp, const std::string &title, const bool &blockingMode);
bool display(VISP_NAMESPACE_ADDRESSING vpImage<double> &D, VISP_NAMESPACE_ADDRESSING vpImage<VISP_NAMESPACE_ADDRESSING vpRGBa> &Idisp, const std::string &title, const bool &blockingMode);
}

#endif
Expand Down
48 changes: 43 additions & 5 deletions tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
#include <visp3/core/vpImageDraw.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/imgproc/vpCircleHoughTransform.h>
#include <visp3/imgproc/vpImgproc.h>
#include <visp3/io/vpImageIo.h>
Expand All @@ -21,7 +22,7 @@
using namespace VISP_NAMESPACE_NAME;
#endif

bool run_detection(const vpImage<unsigned char> &I_src, vpCircleHoughTransform &detector, const int &nbCirclesToDetect, const bool &blockingMode, const bool &displayCanny)
bool run_detection(const vpImage<unsigned char> &I_src, vpImage<vpRGBa> &I_disp, vpImage<vpRGBa> &I_dispCanny, vpCircleHoughTransform &detector, const int &nbCirclesToDetect, const bool &blockingMode, const bool &displayCanny)
{
double t0 = vpTime::measureTimeMicros();
//! [Run detection]
Expand All @@ -30,7 +31,6 @@ bool run_detection(const vpImage<unsigned char> &I_src, vpCircleHoughTransform &
//! [Run detection]
double tF = vpTime::measureTimeMicros();
std::cout << "Process time = " << (tF - t0) * 0.001 << "ms" << std::endl << std::flush;
vpImage<vpRGBa> I_disp;
vpImageConvert::convert(I_src, I_disp);

unsigned int id = 0;
Expand Down Expand Up @@ -115,7 +115,7 @@ bool run_detection(const vpImage<unsigned char> &I_src, vpCircleHoughTransform &

if (displayCanny) {
vpImage<unsigned char> edgeMap = detector.getEdgeMap();
drawingHelpers::display(edgeMap, "Edge map", true);
drawingHelpers::display(edgeMap, I_dispCanny, "Edge map", blockingMode);
}
return drawingHelpers::display(I_disp, "Detection results", blockingMode);
}
Expand Down Expand Up @@ -511,7 +511,39 @@ int main(int argc, char **argv)
//! [Algo init]
std::cout << detector;

//! [Display init]
vpImage<unsigned char> I_src;
vpImage<vpRGBa> I_disp;
vpImage<vpRGBa> I_dispCanny;
// Read the (first) image
char *filename = new char[opt_input.size() + 50];
if (opt_input.find("%") != std::string::npos) {
// Read the first frame
sprintf(filename, opt_input.c_str(), 0);
}
else {
// Simply get the filename
strcpy(filename, opt_input.c_str());
}
std::string filenameAsStr(filename);
delete[] filename;
vpImageIo::read(I_src, filenameAsStr);
I_disp.resize(I_src.getHeight(), I_src.getWidth());
I_dispCanny.resize(I_src.getHeight(), I_src.getWidth());
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> dColor = vpDisplayFactory::createDisplay(I_disp, -1, -1, "Input image");;
std::shared_ptr<vpDisplay> dCanny(nullptr);
if (opt_displayCanny) {
dCanny = vpDisplayFactory::createDisplay(I_dispCanny, I_src.getWidth() + 40, -1, "Edge-map");
}
#else
vpDisplay *dColor = vpDisplayFactory::allocateDisplay(I_disp, -1, -1, "Input image");;
vpDisplay *dCanny(nullptr);
if (opt_displayCanny) {
dCanny = vpDisplayFactory::allocateDisplay(I_dispCanny, I_src.getWidth() + 40, -1, "Edge-map");
}
#endif
//! [Display init]

//! [Manage video]
if (opt_input.find("%") != std::string::npos) {
Expand All @@ -522,7 +554,7 @@ int main(int argc, char **argv)
g.open(I_src);
while (!g.end() && hasToContinue) {
g.acquire(I_src);
hasToContinue = run_detection(I_src, detector, opt_nbCirclesToDetect, false, opt_displayCanny);
hasToContinue = run_detection(I_src, I_disp, I_dispCanny, detector, opt_nbCirclesToDetect, false, opt_displayCanny);
vpTime::wait(40);
}
}
Expand All @@ -535,9 +567,15 @@ int main(int argc, char **argv)
}
// Read the image and perform detection on it
vpImageIo::read(I_src, opt_input);
run_detection(I_src, detector, opt_nbCirclesToDetect, true, opt_displayCanny);
run_detection(I_src, I_disp, I_dispCanny, detector, opt_nbCirclesToDetect, true, opt_displayCanny);
//! [Manage single image]
}

#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
delete dColor;
if (dCanny != nullptr) {
delete dCanny;
}
#endif
return EXIT_SUCCESS;
}
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