1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
|
// -*- mode: c++ -*-
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2016, JSK Lab
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the JSK Lab nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
// https://github.com/opencv/opencv/blob/2.4/samples/cpp/tutorial_code/ImgProc/Threshold.cpp
/**
* This is a demo of threshold image processing,
*/
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/highgui/highgui.hpp>
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv_apps/nodelet.h"
#include "opencv_apps/ThresholdConfig.h"
#include <dynamic_reconfigure/server.h>
namespace opencv_apps
{
class ThresholdNodelet : public opencv_apps::Nodelet
{
////////////////////////////////////////////////////////
// Dynamic Reconfigure
////////////////////////////////////////////////////////
typedef opencv_apps::ThresholdConfig Config;
typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
Config config_;
boost::shared_ptr<ReconfigureServer> reconfigure_server_;
int queue_size_;
bool debug_view_;
std::string window_name_;
image_transport::Publisher img_pub_;
image_transport::Subscriber img_sub_;
image_transport::CameraSubscriber cam_sub_;
boost::shared_ptr<image_transport::ImageTransport> it_;
boost::mutex mutex_;
int threshold_type_;
int max_binary_value_;
int threshold_value_;
bool apply_otsu_;
void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cam_info)
{
doWork(msg, cam_info->header.frame_id);
}
void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
doWork(msg, msg->header.frame_id);
}
void subscribe() // NOLINT(modernize-use-override)
{
NODELET_DEBUG("Subscribing to image topic.");
if (config_.use_camera_info)
cam_sub_ = it_->subscribeCamera("image", queue_size_, &ThresholdNodelet::imageCallbackWithInfo, this);
else
img_sub_ = it_->subscribe("image", queue_size_, &ThresholdNodelet::imageCallback, this);
}
void unsubscribe() // NOLINT(modernize-use-override)
{
NODELET_DEBUG("Unsubscribing from image topic.");
img_sub_.shutdown();
cam_sub_.shutdown();
}
void reconfigureCallback(Config& config, uint32_t level)
{
boost::mutex::scoped_lock lock(mutex_);
config_ = config;
threshold_value_ = config.threshold;
threshold_type_ = config.threshold_type;
max_binary_value_ = config.max_binary;
apply_otsu_ = config.apply_otsu;
}
void doWork(const sensor_msgs::Image::ConstPtr& image_msg, const std::string& input_frame_from_msg)
{
try
{
cv::Mat src_image = cv_bridge::toCvShare(image_msg, sensor_msgs::image_encodings::BGR8)->image;
cv::Mat gray_image;
cv::cvtColor(src_image, gray_image, cv::COLOR_BGR2GRAY);
cv::Mat result_image;
if (apply_otsu_)
{
threshold_type_ |= CV_THRESH_OTSU;
}
cv::threshold(gray_image, result_image, threshold_value_, max_binary_value_, threshold_type_);
//-- Show what you got
if (debug_view_)
{
cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);
cv::imshow(window_name_, result_image);
int c = cv::waitKey(1);
}
img_pub_.publish(
cv_bridge::CvImage(image_msg->header, sensor_msgs::image_encodings::MONO8, result_image).toImageMsg());
}
catch (cv::Exception& e)
{
NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
}
}
public:
virtual void onInit() // NOLINT(modernize-use-override)
{
Nodelet::onInit();
it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
pnh_->param("queue_size", queue_size_, 3);
pnh_->param("debug_view", debug_view_, false);
if (debug_view_)
{
always_subscribe_ = true;
}
////////////////////////////////////////////////////////
// Dynamic Reconfigure
////////////////////////////////////////////////////////
reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
dynamic_reconfigure::Server<Config>::CallbackType f =
boost::bind(&ThresholdNodelet::reconfigureCallback, this, boost::placeholders::_1, boost::placeholders::_2);
reconfigure_server_->setCallback(f);
img_pub_ = advertiseImage(*pnh_, "image", 1);
onInitPostProcess();
}
};
} // namespace opencv_apps
namespace threshold
{
class ThresholdNodelet : public opencv_apps::ThresholdNodelet
{
public:
virtual void onInit() // NOLINT(modernize-use-override)
{
ROS_WARN("DeprecationWarning: Nodelet threshold/threshold is deprecated, "
"and renamed to opencv_apps/threshold.");
opencv_apps::ThresholdNodelet::onInit();
}
};
} // namespace threshold
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(opencv_apps::ThresholdNodelet, nodelet::Nodelet);
PLUGINLIB_EXPORT_CLASS(threshold::ThresholdNodelet, nodelet::Nodelet);
|
