remove_small_regions_alg_node.cpp

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#include "remove_small_regions_alg_node.h"

//#include <opencv2/highgui/highgui.hpp>
//static const char WINDOW[] = "Image window";

RemoveSmallRegionsAlgNode::RemoveSmallRegionsAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<RemoveSmallRegionsAlgorithm>()
{
        //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, &RemoveSmallRegionsAlgNode::image_in_callback, this);
        
        // [init services]
        
        // [init clients]
        
        // [init action servers]
        
        // [init action clients]
        
        //cv::namedWindow(WINDOW);
}

RemoveSmallRegionsAlgNode::~RemoveSmallRegionsAlgNode(void)
{
        // [free dynamic memory]
        //cv::destroyWindow(WINDOW);
}

void RemoveSmallRegionsAlgNode::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->remove_border_out_publisher_.publish(this->Image_msg_);
}

/*  [subscriber callbacks] */
void RemoveSmallRegionsAlgNode::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 small regions publishing image");
        this->image_out_publisher_.publish(cv_ptr->toImageMsg());
        
        //use appropiate mutex to shared variables if necessary 
        //this->alg_.lock(); 
        //this->remove_border_in_mutex_.enter(); 

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

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

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */


/* Other functions */
cv::Mat RemoveSmallRegionsAlgNode::processImage(cv::Mat image)
{
        Mat src_gray, res, threshold_output;
        vector<vector<Point> > contours;
        int thresh = 10;
        cvtColor( image, src_gray, CV_BGR2GRAY );
        
        threshold( src_gray, threshold_output, thresh, 255, THRESH_BINARY );
        
        findContours( threshold_output, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE, Point(0, 0) );
        
        Mat mask = Mat::zeros( threshold_output.size(), CV_8UC3 );
        Scalar color_white = Scalar( 255, 255, 255 );
        for( size_t i = 0; i< contours.size(); i++ )
        { 
                if (contours[i].size() < min_area_threshold) {
                        drawContours( mask, contours, i, color_white, CV_FILLED); 
                }
        }
        
        bitwise_not(mask,mask);
        //cv::imshow(WINDOW, mask);
        //cv::waitKey(3);
        
        bitwise_and(image,mask,image);
        
        return image;
}

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

void RemoveSmallRegionsAlgNode::addNodeDiagnostics(void)
{
}

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