remove_border_alg_node.cpp

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#include "remove_border_alg_node.h"


RemoveBorderAlgNode::RemoveBorderAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<RemoveBorderAlgorithm>()
{
        //init class attributes if necessary
        //this->loop_rate_ = 2;//in [Hz]
        
        // [init publishers]
        this->image_out_publisher_ = this->public_node_handle_.advertise<sensor_msgs::Image>("image_out", 1);
        
        // [init subscribers]
        this->image_in_subscriber_ = this->public_node_handle_.subscribe("image_in", 1, &RemoveBorderAlgNode::image_in_callback, this);
        
        // [init services]
        
        // [init clients]
        
        // [init action servers]
        
        // [init action clients]
        
}

RemoveBorderAlgNode::~RemoveBorderAlgNode(void)
{
        // [free dynamic memory]
}

void RemoveBorderAlgNode::mainNodeThread(void)
{
        // [fill msg structures]
        //this->Image_msg_.data = my_var;
        
        // [fill srv structure and make request to the server]
        
        // [fill action structure and make request to the action server]

        // [publish messages]
        //this->image_out_publisher_.publish(this->Image_msg_);
}

/*  [subscriber callbacks] */
void RemoveBorderAlgNode::image_in_callback(const sensor_msgs::Image::ConstPtr& msg) 
{ 
        cv_bridge::CvImagePtr cv_ptr;
        try
        {
                cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
        }
        catch (cv_bridge::Exception& e)
        {
                ROS_ERROR("cv_bridge exception: %s", e.what());
                return;
        }
        
        cv_ptr->image = processImage(cv_ptr->image);
        
        ROS_DEBUG("Remove border publishing image");
        this->image_out_publisher_.publish(cv_ptr->toImageMsg());
        
        //use appropiate mutex to shared variables if necessary 
        //this->alg_.lock(); 
        //this->image_in_mutex_.enter(); 

        //std::cout << msg->data << std::endl; 

        //unlock previously blocked shared variables 
        //this->alg_.unlock(); 
        //this->image_in_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */


/* Other functions */
cv::Mat RemoveBorderAlgNode::processImage(cv::Mat image)
{
        Mat src_gray, res;
        Mat threshold_output;
        vector<vector<Point> > contours;
        vector<Vec4i> hierarchy;
        int thresh = 10;
        cvtColor( image, src_gray, CV_BGR2GRAY );
        blur( src_gray, src_gray, Size(3,3) );
        
        threshold( src_gray, threshold_output, thresh, 255, THRESH_BINARY );

        findContours( threshold_output, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );

        vector<vector<Point> >hull( contours.size() );
        if (remove_border_convex) {
                for( size_t i = 0; i < contours.size(); i++ ) {
                        convexHull( Mat(contours[i]), hull[i], false );
                }
        }
        
        Mat drawing = Mat::zeros( threshold_output.size(), CV_8UC3 );
        for( size_t i = 0; i< contours.size(); i++ )
        { 
                Scalar color = Scalar( 255, 255, 255 );
                if (remove_border_convex)
                        drawContours( drawing, hull, i, color, 1, 8, vector<Vec4i>(), 0, Point() );
                else
                        drawContours( drawing, contours, i, color, 1, 8, vector<Vec4i>(), 0, Point() ); 
                
        }
        
        dilate(drawing, drawing, Mat::ones(remove_border_size, remove_border_size,1));
        subtract(image, drawing, res);
        
        return res;
}

void RemoveBorderAlgNode::node_config_update(Config &config, uint32_t level)
{
        this->alg_.lock();
        
        this->remove_border_size= config.remove_border_size;
        this->remove_border_convex = config.remove_border_convex;
        
        // save the current configuration
        this->alg_.config_=config;
        
        this->alg_.unlock();
}

void RemoveBorderAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
        return algorithm_base::main<RemoveBorderAlgNode>(argc, argv, "remove_border_alg_node");
}