void BlobDetectorNode::update() {
// if more than 2 seconds have passed and no messages have been received,
// stop sending
if((ros::Time::now()-t_depth).toSec()>1.0) {
return;
}
//convert image to openCV image
cv_bridge::CvImagePtr cv_ptr = convertImage();
//normalize image, remove max values
// cv_ptr = normalize(cv_ptr);
//if(1) return;
//detect blobs in image
vector<KeyPoint> points = detectBlobs(cv_ptr);
//pick the closest blob
KeyPoint kp = getClosestBlob(points,cv_ptr);
ROS_INFO_STREAM("x cor: " << kp.pt.x << " distance: " << kp.pt.y);
// calculate kinematics and send twist to robot simulation node
geometry_msgs::Twist twist_msg;
twist_msg.linear.x = kp.pt.x;
twist_msg.linear.y = 0.0;
twist_msg.linear.z = kp.pt.y;
twist_msg.angular.x = 0.0;
twist_msg.angular.y = 0.0;
twist_msg.angular.z = 0.0;
blob_publisher.publish(twist_msg);
}
/* Callback function to handle ros image messages
*
* PARAMETERS:
* -the pointer that contains the color image
* and its metadata
*
* RETURN: --
*/
void Chroma_processing::imageCb(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
int rows;
int cols;
int channels;
int size;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::MONO8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cur_rgb = (cv_ptr->image).clone();
// contrast fix
cur_rgb.convertTo(cur_rgb, -1, 4, 0);
// gamma correction
gammaCorrection(cur_rgb);
// First run variable initialization
if(frameCounter == -1 )
{
rows = cur_rgb.rows;
cols = cur_rgb.cols;
channels = cur_rgb.channels();
size = rows*cols*channels;
ref_rgb = cur_rgb.clone();
frameCounter++;
}
//~ medianBlur(dif_rgb, dif_rgb, 3);
frameDif(cur_rgb, ref_rgb, dif_rgb, 255*0.33);
ref_rgb = cur_rgb.clone();
//Display
//Blob detection
if(display)
{
detectBlobs(dif_rgb, rgb_rects, 15);
Mat temp = dif_rgb.clone();
for(Rect rect: rgb_rects)
rectangle(temp, rect, 255, 1);
rgb_rects.clear();
imshow("dif_rgb", temp);
moveWindow("dif_rgb", 0, 0);
imshow("cur_rgb", cur_rgb);
moveWindow("cur_rgb", 645, 0);
waitKey(1);
}
///////////////////////////////
///////////////////////////////
/* Image background estimation
*
*
cur_rgb = (cv_ptr->image).clone();
// Edge detection and background estimation
int kernel_size = 3;
int scale = 1;
int delta = 0;
int ddepth = CV_16S;
cur_rgb.convertTo(cur_rgb, -1, 2, 0);
gammaCorrection(cur_rgb);
//~ GaussianBlur( cur_rgb, cur_rgb, Size(3,3), 0, 0, BORDER_DEFAULT );
medianBlur(cur_rgb, cur_rgb, 3);
Laplacian( cur_rgb, cur_rgb, ddepth, kernel_size, scale, delta, BORDER_DEFAULT );
convertScaleAbs( cur_rgb, cur_rgb );
estimateBackground(cur_rgb, back_Mat, rgb_storage, 500, 0.04);
Mat temp_Mat = cur_rgb.clone();
estimateForeground(cur_rgb, back_Mat, temp_Mat);
medianBlur(temp_Mat, temp_Mat, 7);
adaptiveThreshold(temp_Mat, temp_Mat, 255, ADAPTIVE_THRESH_GAUSSIAN_C, THRESH_BINARY, 9, -15);
vector< Rect_<int> > back_rects;
detectBlobs(temp_Mat, back_rects, 15);
imshow("temp_Mat", temp_Mat);
moveWindow("temp_Mat", 645, 0);
*/
has_image = true;
waitKey(1);
cv_ptr->image = cur_rgb;
image_pub.publish(cv_ptr->toImageMsg());
cv_ptr->image = dif_rgb;
image_pub_dif.publish(cv_ptr->toImageMsg());
}
int main(int argc, char **argv)
{
create_window("Original");
create_window("Result");
cvMoveWindow("Original", 10, 200);
cvMoveWindow("Result", 20 + WND_WIDTH, 200);
const char *optstr = "d";
int ch;
while ((ch = getopt(argc, argv, optstr)) != EOF) {
switch (ch)
{
case 'd':
debug = 1;
break;
}
}
if ((argc - optind) > 2) {
std::ofstream fWolf;
std::ofstream fSpotCatalog;
fWolf.open ("/Users/eduardo/Wolfs.txt");
fSpotCatalog.open ("/Users/eduardo/SpotCatalog.txt");
fSpotCatalog << "Image;Date;Spot Id;Lat;Lon;Area;Intensity Relative;Mag Avg;Mag Avg Pos;Mag Avg Neg;Sun Intensity Avg; Sun Intensity Max; Sun Intensity Min" << std::endl;
for (int i = optind; i < argc; ++i) {
IplImage *src = cvLoadImage(argv[i]);
if (debug)
cvShowImage("Original", src);
IplImage *dst = detect_sunspots(src);
blob_collection b = detectBlobs(dst);
std::cout << "Found " << b.size() << " sunspots in image " << argv[i] << std::endl;
//struct_sun sun = center_sun(src, debug);
fitsToolMDIContinum oFitMDIcontinum;
fitsToolMag oFitMag;
oFitMDIcontinum.openFit(argv[i]);
struct_sun sun;
oFitMDIcontinum.sunPhysics(&sun);
std::string date;
oFitMDIcontinum.dateObs(date);
std::cout << "SD X0 = " << sun.center.x << " Y0 = " << sun.center.y << " Radius = " << sun.radius << " Date:" << date << std::endl;
group_sunspot_vector groups = count_groups(sun, b, debug? dst : NULL);
std::cout << "groups found:" << groups.size() << std::endl;
std::cout << "Wolf number " << b.size() + (groups.size() * 10) << " sunspots in image " << argv[i] << std::endl;
double dIntensity;
double dMin;
double dMax;
oFitMDIcontinum.sunMeanIntensity(&dIntensity, &dMin, &dMax);
fWolf << argv[i] << ";"<< b.size() + (groups.size() * 10) << ";" << dMax << ";" << date << std::endl;
oFitMag.openFit(argv[i]);
blob_collection::iterator iter;
int icnt = 0;
for (iter = b.begin(); iter != b.end(); iter++)
{
double dMagAverage, dMagAveragePos, dMagAverageNeg, dArea, dIntensityAvg;
oFitMag.magFieldAverage(iter->second.listPoints, &dMagAverage, &dMagAveragePos, &dMagAverageNeg);
oFitMDIcontinum.Area(&(iter->second), &dArea);
oFitMDIcontinum.IntensityAverage(iter->second.listPoints, &dIntensityAvg);
std::cout << "/t" << iter->first << "| Center:" << iter->second.getLatDeg() << "," << iter->second.getLonDeg() << "| Points : " << iter->second.listPoints.size() << "| AREA : " << dArea << "| Intensidade " << dIntensityAvg / dIntensity << "| Mag:" << dMagAverage << " : " << dMagAveragePos << " : " << dMagAverageNeg << std::endl;
fSpotCatalog << argv[i] << ";" << date << ";" << icnt << ";" << iter->second.getLatDeg() << ";" << iter->second.getLonDeg() << ";" << dArea << ";" << dIntensityAvg / dIntensity << ";" << dMagAverage << ";" << dMagAveragePos << ";" << dMagAverageNeg << ";" << dIntensity << ";" << dMax << ";" << dMin << std::endl;;
++icnt;
}
oFitMDIcontinum.closeFit();
oFitMag.closeFit();
cvShowImage("Original", src);
cvShowImage("Result", dst);
/*double dIntensity;
openFit(argv[i]);
sunMeanIntensity(&dIntensity);
std::cout << "Sun Intensity: " << dIntensity;
*/
oFitMDIcontinum.closeFit();
cvWaitKey(5);
cvReleaseImage(&src);
cvReleaseImage(&dst);
}
fWolf.close();
fSpotCatalog.close();
} else {
IplImage *src = cvLoadImage(argv[optind]);
if (debug)
cvShowImage("Original", src);
IplImage *dst = detect_sunspots(src);
blob_collection b = detectBlobs(dst);
std::cout << "Found " << b.size() << " sunspots in image " << argv[optind] << std::endl;
fitsToolMDIContinum oFitMDIcontinum;
fitsToolMag oFitMag;
//struct_sun sun = center_sun(src, debug);
oFitMDIcontinum.openFit(argv[optind]);
struct_sun sun;
oFitMDIcontinum.sunPhysics(&sun);
std::string date;
oFitMDIcontinum.dateObs(date);
std::cout << "SDO X0 = " << sun.center.x << " Y0 = " << sun.center.y << " Radius = " << sun.radius << " Date:" << date << std::endl;
group_sunspot_vector groups = count_groups(sun, b, debug? dst : NULL);
std::cout << "groups found:" << groups.size() << std::endl;
std::cout << "Wolf number: " << b.size() + (groups.size() * 10) << " sunspots in image " << argv[optind] << std::endl;
if (!debug) {
cvShowImage("Original", src);
cvShowImage("Result", dst);
std::cout << "Src Width:" << src->width << "\t" << "Height:"<< src->height << std::endl;
std::cout << "Dst Width:" << dst->width << "\t" << "Height:"<< dst->height << std::endl;
}
double dIntensity;
double dMin;
double dMax;
oFitMDIcontinum.sunMeanIntensity(&dIntensity, &dMin, &dMax);
dMin = dIntensity * 0.75;
std::cout << "Sun Intensity: " << dIntensity << std::endl;
blob_collection::iterator iter;
/*
int npoints=0;
double dspotInt=0;
double dMagAverage = 0;
*/
oFitMag.openFit(argv[optind]);
for (iter = b.begin(); iter != b.end(); iter++)
{
double dMagAverage, dMagAveragePos, dMagAverageNeg, dArea, dIntensityAvg;
oFitMag.magFieldAverage(iter->second.listPoints, &dMagAverage, &dMagAveragePos, &dMagAverageNeg);
oFitMDIcontinum.Area(&(iter->second), &dArea);
oFitMDIcontinum.IntensityAverage(iter->second.listPoints, &dIntensityAvg);
std::cout << iter->first << "| Center:" << iter->second.getLatDeg() << "," << iter->second.getLonDeg() << "| Points : " << iter->second.listPoints.size() << "| AREA : " << dArea << "| Intensidade " << dIntensityAvg / dIntensity << "| Mag:" << dMagAverage << " : " << dMagAveragePos << " : " << dMagAverageNeg << std::endl;
// intensidade mancha // center em graus // depois do primeiro teste 40 ou 50 // B/Int B/A Int/A | int média mancha / int central sol
/*
iter->second.listPoints.clear();
std::cout << iter->first << "| Center:" << iter->second.center.x << "," << iter->second.center.y;
oFitMDIcontinum.reposCenterBlob(&(iter->second));
std::cout << "| Re-Center:" << iter->second.center.x << "," << iter->second.center.y;
oFitMDIcontinum.regionGrowing(iter->second.center, &npoints, &dspotInt, src, dMin, iter->second.listPoints);
std::cout << " | Points:" << npoints << "\t| Inyensity: " << dspotInt << std::endl;
*/
}
oFitMDIcontinum.closeFit();
oFitMag.closeFit();
while (27 == (cvWaitKey(0) & 0xff));
cvDestroyAllWindows();
cvReleaseImage(&src);
cvReleaseImage(&dst);
}
return 0;
}
