find_keypoints.cpp

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/*
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// ROS HEADERS
#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/Image.h>
#include <image_transport/image_transport.h>
#include <vector>
#include <opencv_tut/valueMatrix.h>

// OpenCV headers
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/nonfree/nonfree.hpp>
#include <opencv2/highgui/highgui.hpp>
 
class FindKeypoints
{
public:
        FindKeypoints(ros::NodeHandle nh_);
        ~FindKeypoints();
protected:
        void imageCB(const sensor_msgs::ImageConstPtr& msg);
        void matrixCB(const opencv_tut::valueMatrixConstPtr& msg);
        void FeaturesDetection(cv::Mat in, cv::Mat& out);
        void contrastChange(cv::Mat in, cv::Mat& out);
        void sharpenImg(cv::Mat in, cv::Mat& out);
        void cvWindows();

        image_transport::ImageTransport _imageTransport;
        image_transport::Subscriber image_sub;
        ros::Subscriber gui_sub;

        float alpha;
        int beta;
        int zero_zero, zero_one, zero_two, one_zero, one_one, one_two, two_zero, two_one, two_two;
        bool keypoints_bool, sharpen_bool, contrast_bool, original_bool, combined_bool;
        std::string detector_from_msg;
};

const std::string key_win= "Keypoints";
const std::string sharp_win= "Sharpen Image";
const std::string cont_win = "Contrast Manipulation";
const std::string orig_win = "Original Image";
const std::string combi_win= "Combined Effects";

FindKeypoints::FindKeypoints(ros::NodeHandle nh_): _imageTransport(nh_)
{
        image_sub = _imageTransport.subscribe("xtion/rgb/image_raw", 1, &FindKeypoints::imageCB, this, image_transport::TransportHints("compressed"));
        gui_sub = nh_.subscribe("/opencv_tut/find_keypoints_gui", 1, &FindKeypoints::matrixCB, this);

        alpha = 2.2;
        beta = 50;
        zero_zero = 0; zero_one = -1; zero_two = 0;
        one_zero = -1; one_one = 5; one_two = -1;
        two_zero = 0; two_one = -1; two_two = 0;
        keypoints_bool= true;
        sharpen_bool = contrast_bool = original_bool = combined_bool = false;
        detector_from_msg = "SURF";
}

FindKeypoints::~FindKeypoints()
{
        cv::destroyAllWindows();
}

void FindKeypoints::matrixCB(const opencv_tut::valueMatrixConstPtr& msg)
{
        if(msg->header.frame_id == "zero_zero")
                zero_zero = msg->value;
        else if(msg->header.frame_id == "zero_one")
                zero_one = msg->value;
        else if(msg->header.frame_id == "zero_two")
                zero_two = msg->value;
        else if(msg->header.frame_id == "one_zero")
                one_zero = msg->value;
        else if(msg->header.frame_id == "one_one")
                one_one = msg->value;
        else if(msg->header.frame_id == "one_two")
                one_two = msg->value;
        else if(msg->header.frame_id == "two_zero")
                two_zero = msg->value;
        else if(msg->header.frame_id == "two_one")
                two_one = msg->value;
        else if(msg->header.frame_id == "two_two")
                two_two = msg->value;
        else if(msg->header.frame_id == "alpha")
                alpha = msg->value;
        else if(msg->header.frame_id == "beta")
                beta = msg->value;
        else if(msg->header.frame_id == "Keypoints")
                keypoints_bool = msg->tick;
        else if(msg->header.frame_id == "Sharpen")
                sharpen_bool = msg->tick;
        else if(msg->header.frame_id == "Contrast")
                contrast_bool = msg->tick;
        else if(msg->header.frame_id == "Original")
                original_bool = msg->tick;
        else if(msg->header.frame_id == "Combined")
                combined_bool = msg->tick;
        else
                detector_from_msg = msg->header.frame_id;

        this->cvWindows();
}

void FindKeypoints::cvWindows()
{
        if(keypoints_bool == true)
                cv::namedWindow(key_win, CV_WINDOW_FREERATIO);
        else if (keypoints_bool == false)
                cv::destroyWindow(key_win);

        if(sharpen_bool == true)
                cv::namedWindow(sharp_win, CV_WINDOW_FREERATIO);
        else if (sharpen_bool == false)
                cv::destroyWindow(sharp_win);

        if(contrast_bool == true)
                cv::namedWindow(cont_win, CV_WINDOW_FREERATIO);
        else if (contrast_bool == false)
                cv::destroyWindow(cont_win);

        if(original_bool == true)
                cv::namedWindow(orig_win, CV_WINDOW_FREERATIO);
        else if (original_bool == false)
                cv::destroyWindow(orig_win);

        if(combined_bool == true)
                cv::namedWindow(combi_win, CV_WINDOW_FREERATIO);
        else if (combined_bool == false)
                cv::destroyWindow(combi_win);
}

void FindKeypoints::imageCB(const sensor_msgs::ImageConstPtr& msg)
{
        cv::Mat img, keypoints_mat, sharp_mat, contrast_mat, combi_mat;
        cv_bridge::CvImagePtr cvPtr;

        try
        { 
                cvPtr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
        }
        catch (cv_bridge::Exception& e) 
  {
                ROS_ERROR("cv_bridge exception: %s", e.what());
                return;
  }

        cvPtr->image.copyTo(img);

        if(original_bool == true)
        {
                cv::imshow(orig_win, img);
        }
        if(contrast_bool == true)
        {
                this->contrastChange(img, contrast_mat);
                cv::imshow(cont_win, contrast_mat);
        }
        if(sharpen_bool == true)
        {
                this->sharpenImg(img, sharp_mat);
                cv::imshow(sharp_win, sharp_mat);
        }
        if(keypoints_bool == true)
        {
                this->FeaturesDetection(img, keypoints_mat);
                cv::imshow(key_win, keypoints_mat);
        }
        if(combined_bool == true)
        {
                cv::Mat combi_mat_1, combi_mat_2;
                this->contrastChange(img, combi_mat_1);
                this->sharpenImg(combi_mat_1, combi_mat_2);
                this->FeaturesDetection(combi_mat_2, combi_mat);
                cv::imshow(combi_win, combi_mat);
        }
        cv::waitKey(2);
}

void FindKeypoints::sharpenImg(cv::Mat in, cv::Mat& out)
{
        out = cv::Mat::zeros(in.size(), in.type());
        cv::Mat kern = (cv::Mat_<char>(3,3) << zero_zero, zero_one, zero_two,
                                                                                                                                                                        one_zero, one_one, one_two,
                                                                                                                                                                        zero_two, one_one, one_two);
        cv::filter2D(in, out, in.depth(), kern);
}

void FindKeypoints::contrastChange(cv::Mat in, cv::Mat& out)
{
        out = cv::Mat::zeros(in.size(), in.type());
        for(int i = 0; i<in.rows; i++)
                for(int j = 0; j<in.cols; j++)
                        for(int k = 0; k<3; ++k)
                                out.at<cv::Vec3b>(i,j).val[k] = cv::saturate_cast<uchar>(alpha * (in.at<cv::Vec3b>(i,j).val[k] + beta));
}

void FindKeypoints::FeaturesDetection(cv::Mat in, cv::Mat& out)
{       
        std::vector<cv::KeyPoint> keypoints;
        cv::initModule_nonfree();
        cv::Ptr<cv::FeatureDetector> detector = cv::FeatureDetector::create(detector_from_msg);
        detector->detect(in, keypoints);
        cv::drawKeypoints(in, keypoints, out, cv::Scalar::all(-1), cv::DrawMatchesFlags::DEFAULT);
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "FindKeypoints");

  ros::NodeHandle nh;

  FindKeypoints fk(nh);

  ros::spin();
}