general_contours_nodelet.cpp
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34 
35 // https://github.com/Itseez/opencv/blob/2.4/samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo2.cpp
42 #include <ros/ros.h>
43 #include "opencv_apps/nodelet.h"
46 #include <cv_bridge/cv_bridge.h>
48 
49 #include <opencv2/highgui/highgui.hpp>
50 #include <opencv2/imgproc/imgproc.hpp>
51 
52 #include <dynamic_reconfigure/server.h>
53 #include "opencv_apps/GeneralContoursConfig.h"
54 #include "opencv_apps/RotatedRect.h"
55 #include "opencv_apps/RotatedRectArray.h"
56 #include "opencv_apps/RotatedRectArrayStamped.h"
57 
58 namespace opencv_apps
59 {
61 {
66 
68 
69  typedef opencv_apps::GeneralContoursConfig Config;
70  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
71  Config config_;
73 
77 
79 
80  std::string window_name_;
81  static bool need_config_update_;
82 
83  void reconfigureCallback(Config& new_config, uint32_t level)
84  {
85  config_ = new_config;
86  threshold_ = config_.threshold;
87  }
88 
89  const std::string& frameWithDefault(const std::string& frame, const std::string& image_frame)
90  {
91  if (frame.empty())
92  return image_frame;
93  return frame;
94  }
95 
96  void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cam_info)
97  {
98  doWork(msg, cam_info->header.frame_id);
99  }
100 
101  void imageCallback(const sensor_msgs::ImageConstPtr& msg)
102  {
103  doWork(msg, msg->header.frame_id);
104  }
105 
106  static void trackbarCallback(int /*unused*/, void* /*unused*/)
107  {
108  need_config_update_ = true;
109  }
110 
111  void doWork(const sensor_msgs::ImageConstPtr& msg, const std::string& input_frame_from_msg)
112  {
113  // Work on the image.
114  try
115  {
116  // Convert the image into something opencv can handle.
117  cv::Mat frame = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::BGR8)->image;
118 
119  // Messages
120  opencv_apps::RotatedRectArrayStamped rects_msg, ellipses_msg;
121  rects_msg.header = msg->header;
122  ellipses_msg.header = msg->header;
123 
124  // Do the work
125  cv::Mat src_gray;
126 
128  if (frame.channels() > 1)
129  {
130  cv::cvtColor(frame, src_gray, cv::COLOR_RGB2GRAY);
131  }
132  else
133  {
134  src_gray = frame;
135  }
136  cv::blur(src_gray, src_gray, cv::Size(3, 3));
137 
139  if (debug_view_)
140  {
141  cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);
142  }
143 
144  cv::Mat threshold_output;
145  int max_thresh = 255;
146  std::vector<std::vector<cv::Point> > contours;
147  std::vector<cv::Vec4i> hierarchy;
148  cv::RNG rng(12345);
149 
151  cv::threshold(src_gray, threshold_output, threshold_, 255, cv::THRESH_BINARY);
152 
154  cv::findContours(threshold_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
155 
157  std::vector<cv::RotatedRect> min_rect(contours.size());
158  std::vector<cv::RotatedRect> min_ellipse(contours.size());
159 
160  for (size_t i = 0; i < contours.size(); i++)
161  {
162  min_rect[i] = cv::minAreaRect(cv::Mat(contours[i]));
163  if (contours[i].size() > 5)
164  {
165  min_ellipse[i] = cv::fitEllipse(cv::Mat(contours[i]));
166  }
167  }
168 
170  cv::Mat drawing = cv::Mat::zeros(threshold_output.size(), CV_8UC3);
171  for (size_t i = 0; i < contours.size(); i++)
172  {
173  cv::Scalar color = cv::Scalar(rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255));
174  // contour
175  cv::drawContours(drawing, contours, (int)i, color, 1, 8, std::vector<cv::Vec4i>(), 0, cv::Point());
176  // ellipse
177  cv::ellipse(drawing, min_ellipse[i], color, 2, 8);
178  // rotated rectangle
179  cv::Point2f rect_points[4];
180  min_rect[i].points(rect_points);
181  for (int j = 0; j < 4; j++)
182  cv::line(drawing, rect_points[j], rect_points[(j + 1) % 4], color, 1, 8);
183 
184  opencv_apps::RotatedRect rect_msg;
185  opencv_apps::Point2D rect_center;
186  opencv_apps::Size rect_size;
187  rect_center.x = min_rect[i].center.x;
188  rect_center.y = min_rect[i].center.y;
189  rect_size.width = min_rect[i].size.width;
190  rect_size.height = min_rect[i].size.height;
191  rect_msg.center = rect_center;
192  rect_msg.size = rect_size;
193  rect_msg.angle = min_rect[i].angle;
194  opencv_apps::RotatedRect ellipse_msg;
195  opencv_apps::Point2D ellipse_center;
196  opencv_apps::Size ellipse_size;
197  ellipse_center.x = min_ellipse[i].center.x;
198  ellipse_center.y = min_ellipse[i].center.y;
199  ellipse_size.width = min_ellipse[i].size.width;
200  ellipse_size.height = min_ellipse[i].size.height;
201  ellipse_msg.center = ellipse_center;
202  ellipse_msg.size = ellipse_size;
203  ellipse_msg.angle = min_ellipse[i].angle;
204 
205  rects_msg.rects.push_back(rect_msg);
206  ellipses_msg.rects.push_back(ellipse_msg);
207  }
208 
210  if (debug_view_)
211  {
212  if (need_config_update_)
213  {
214  config_.threshold = threshold_;
215  reconfigure_server_->updateConfig(config_);
216  need_config_update_ = false;
217  }
218  cv::createTrackbar("Threshold:", window_name_, &threshold_, max_thresh, trackbarCallback);
219 
220  cv::imshow(window_name_, drawing);
221  int c = cv::waitKey(1);
222  }
223 
224  // Publish the image.
225  sensor_msgs::Image::Ptr out_img =
227  img_pub_.publish(out_img);
228  rects_pub_.publish(rects_msg);
229  ellipses_pub_.publish(ellipses_msg);
230  }
231  catch (cv::Exception& e)
232  {
233  NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
234  }
235 
236  prev_stamp_ = msg->header.stamp;
237  }
238 
239  void subscribe() // NOLINT(modernize-use-override)
240  {
241  NODELET_DEBUG("Subscribing to image topic.");
242  if (config_.use_camera_info)
243  cam_sub_ = it_->subscribeCamera("image", queue_size_, &GeneralContoursNodelet::imageCallbackWithInfo, this);
244  else
245  img_sub_ = it_->subscribe("image", queue_size_, &GeneralContoursNodelet::imageCallback, this);
246  }
247 
248  void unsubscribe() // NOLINT(modernize-use-override)
249  {
250  NODELET_DEBUG("Unsubscribing from image topic.");
251  img_sub_.shutdown();
252  cam_sub_.shutdown();
253  }
254 
255 public:
256  virtual void onInit() // NOLINT(modernize-use-override)
257  {
258  Nodelet::onInit();
260 
261  pnh_->param("queue_size", queue_size_, 3);
262  pnh_->param("debug_view", debug_view_, false);
263  if (debug_view_)
264  {
265  always_subscribe_ = true;
266  }
267  prev_stamp_ = ros::Time(0, 0);
268 
269  window_name_ = "Contours";
270  threshold_ = 100;
271 
272  reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
273  dynamic_reconfigure::Server<Config>::CallbackType f =
274  boost::bind(&GeneralContoursNodelet::reconfigureCallback, this, _1, _2);
275  reconfigure_server_->setCallback(f);
276 
277  img_pub_ = advertiseImage(*pnh_, "image", 1);
278  rects_pub_ = advertise<opencv_apps::RotatedRectArrayStamped>(*pnh_, "rectangles", 1);
279  ellipses_pub_ = advertise<opencv_apps::RotatedRectArrayStamped>(*pnh_, "ellipses", 1);
280 
282  }
283 };
285 } // namespace opencv_apps
286 
288 {
290 {
291 public:
292  virtual void onInit() // NOLINT(modernize-use-override)
293  {
294  ROS_WARN("DeprecationWarning: Nodelet general_contours/general_contours is deprecated, "
295  "and renamed to opencv_apps/general_contours.");
297  }
298 };
299 } // namespace general_contours
300 
CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
boost::shared_ptr< ReconfigureServer > reconfigure_server_
void reconfigureCallback(Config &new_config, uint32_t level)
#define NODELET_ERROR(...)
void publish(const boost::shared_ptr< M > &message) const
virtual void onInit()
Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method...
virtual void onInit()
Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method...
f
Nodelet to automatically subscribe/unsubscribe topics according to subscription of advertised topics...
Definition: nodelet.h:70
void doWork(const sensor_msgs::ImageConstPtr &msg, const std::string &input_frame_from_msg)
Demo code to calculate moments.
Definition: nodelet.h:48
void imageCallback(const sensor_msgs::ImageConstPtr &msg)
boost::shared_ptr< image_transport::ImageTransport > it_
void unsubscribe()
This method is called when publisher is unsubscribed by other nodes. Shut down subscribers in this me...
boost::shared_ptr< ros::NodeHandle > pnh_
Shared pointer to private nodehandle.
Definition: nodelet.h:250
#define ROS_WARN(...)
image_transport::CameraSubscriber cam_sub_
bool always_subscribe_
A flag to disable watching mechanism and always subscribe input topics. It can be specified via ~alwa...
Definition: nodelet.h:273
virtual void onInitPostProcess()
Post processing of initialization of nodelet. You need to call this method in order to use always_sub...
Definition: nodelet.cpp:57
virtual void onInit()
Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method...
Definition: nodelet.cpp:40
void publish(const sensor_msgs::Image &message) const
boost::shared_ptr< ros::NodeHandle > nh_
Shared pointer to nodehandle.
Definition: nodelet.h:245
PLUGINLIB_EXPORT_CLASS(opencv_apps::GeneralContoursNodelet, nodelet::Nodelet)
image_transport::Publisher advertiseImage(ros::NodeHandle &nh, const std::string &topic, int queue_size)
Advertise an image topic and watch the publisher. Publishers which are created by this method...
Definition: nodelet.h:180
const std::string & frameWithDefault(const std::string &frame, const std::string &image_frame)
void subscribe()
This method is called when publisher is subscribed by other nodes. Set up subscribers in this method...
void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &cam_info)
#define NODELET_DEBUG(...)
sensor_msgs::ImagePtr toImageMsg() const
dynamic_reconfigure::Server< Config > ReconfigureServer
opencv_apps::GeneralContoursConfig Config


opencv_apps
Author(s): Kei Okada
autogenerated on Wed Apr 24 2019 03:00:17