void findCircles(GradientAndEdges gradientAndEdges, Image result, int radius, int count, int bufferSize, int eraserSize, int degreeSweep)
{
Image accumulatorArray = houghTransform(gradientAndEdges.edges, gradientAndEdges.grad.dir, bufferSize, radius, degreeSweep);
printf("Circles of radius %d: ", radius);
for(int n = 0; n < count; n++)
{
// Find the brightest point
Point location = findBrightestPoint(accumulatorArray);
// Since there may be nearby bright points, erase them so we don't pick the same circle more than once
eraseSection(accumulatorArray, diamondStructuringElement(eraserSize), location.x, location.y);
// Mark the center of the circle
setPixel(accumulatorArray, location.x, location.y, 255);
// Draw the circle
drawCircle(result, location.x, location.y, radius, 255);
printf("(%d, %d), ", location.x - bufferSize, location.y - bufferSize);
}
printf("\n");
writeImage(accumulatorArray, "brightest.pgm");
}
void event_mouse(int button, int state, int x, int y) {
int err;
if (state == GLUT_DOWN) { // Mouse down = find template
// Do hough transform to find ball center and radius
struct frame *fr = get_frame(active_window->frames, active_window->cur);
err = houghTransform(active_window, active_window->cur, x, y);
if (err) {
return;
}
fr->flag |= HAS_HOUGH;
active_window->guess.x = fr->hough.x;
active_window->guess.y = fr->hough.y;
// Make a subimage containing the template
CvRect r = cvRect(fr->hough.x-fr->hough.radius, fr->hough.y-fr->hough.radius, fr->hough.radius*2, fr->hough.radius*2);
CvMat *sub = cvCreateMatHeader(fr->hough.radius*2, fr->hough.radius*2, CV_32FC1);
cvGetSubRect(fr->image, sub, r);
active_window->tmpl = sub;
// Match (could be left out)
templateMatch(active_window, active_window->cur, MARGIN, sub);
fr->flag |= HAS_MATCH;
glutPostRedisplay();
// Calculate meters per pixel
active_window->mpp = atof(active_window->argv[2])/(fr->hough.radius*2);
printf("Getting mpp: %f/%f = %f\n", atof(active_window->argv[2]), fr->hough.radius*2, active_window->mpp);
}
}
void square()
{
Image i = readImage("2D_White_Box.pgm");
GradientAndEdges result = findGradientAndEdges(i, 5, 5, 3, 20);
//Calculate Hough transform
houghTransform(result.edges, result.grad.dir, 20, 32, 10);
}
void imageCallBack(const sensor_msgs::ImageConstPtr& msg) {
try {
it_cnt++; // acc iteration number
//convert ROS image to CV image
cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, "bgr8");
// HOUGH transform
float* angle;
houghTransform(cv_ptr->image, angle);
twistPublisher(angle);
//visualization source image
cv::imshow("source", cv_ptr->image);
cv::waitKey(10);
} catch (cv_bridge::Exception& e) {
ROS_ERROR("Could not convert from '%s' to 'bgr8'.",
msg->encoding.c_str());
}
}
ToolsMenu::ToolsMenu(ImageViewer* iv, QWidget* parent) :
QWidget(parent),
ui(new Ui::ToolsMenu)
{
ui->setupUi(this);
setLayout(ui->verticalLayoutWidget->layout());
m_viewer = (ImageViewer*) iv;
m_tools = new Tools(m_viewer, this);
// locking tools menu when performing transformation
connect(m_viewer, SIGNAL(lockTools()), this, SLOT(disableAllTools()));
connect(m_viewer, SIGNAL(unlockTools()), this, SLOT(enableAllTools()));
/* -------------------------------------------------------
* ROTATION
* ------------------------------------------------------- */
connect(ui->rotate90Button, SIGNAL(clicked()), m_tools, SLOT(rotate90()));
connect(ui->rotate180Button, SIGNAL(clicked()), m_tools, SLOT(rotate180()));
connect(ui->rotate270Button, SIGNAL(clicked()), m_tools, SLOT(rotate270()));
/* -------------------------------------------------------
* HISTOGRAM
* ------------------------------------------------------- */
QMenu* hMenu = new QMenu(ui->histogramButton);
hMenu->addAction(
QIcon(":/icons/icons/chart_curve_error.png"),
QString("Equalize histograms"),
m_tools,
SLOT(histogramEqualize())
);
hMenu->addAction(
QIcon(":/icons/icons/chart_curve_go.png"),
QString("Stretch histograms"),
m_tools,
SLOT(histogramStretch())
);
ui->histogramButton->setMenu(hMenu);
/* -------------------------------------------------------
* FILTERS (convolution, blur)
* ------------------------------------------------------- */
QMenu* bMenu = new QMenu(ui->blurButton);
bMenu->addAction(
QIcon(":/icons/icons/draw_convolve.png"),
QString("Gaussian blur"),
m_tools,
SLOT(blurGauss())
);
bMenu->addAction(
QIcon(":/icons/icons/draw_convolve.png"),
QString("Uniform blur"),
m_tools,
SLOT(blurUniform())
);
bMenu->addAction(
QIcon(":/icons/icons/flag_airfield_vehicle_safety.png"),
QString("Custom linear filter"),
m_tools,
SLOT(blurLinear())
);
ui->blurButton->setMenu(bMenu);
/* -------------------------------------------------------
* BINARIZATION
* ------------------------------------------------------- */
QMenu* binMenu = new QMenu(ui->binarizationButton);
binMenu->addAction(
QIcon(":/icons/icons/universal_binary.png"),
QString("Manual"),
m_tools,
SLOT(binManual())
);
binMenu->addAction(
QIcon(":/icons/icons/universal_binary.png"),
QString("Gradient"),
m_tools,
SLOT(binGradient())
);
binMenu->addAction(
QIcon(":/icons/icons/universal_binary.png"),
QString("Iterative bimodal"),
m_tools,
SLOT(binIterBimodal())
);
binMenu->addAction(
QIcon(":/icons/icons/universal_binary.png"),
QString("Niblack"),
m_tools,
SLOT(binNiblack())
);
binMenu->addAction(
QIcon(":/icons/icons/universal_binary.png"),
QString("Otsu"),
m_tools,
SLOT(binOtsu())
);
ui->binarizationButton->setMenu(binMenu);
/* -------------------------------------------------------
* NOISE REDUCTION
* ------------------------------------------------------- */
QMenu* nMenu = new QMenu(ui->noiseButton);
nMenu->addAction(
QIcon(":/icons/icons/checkerboard.png"),
QString("Median"),
m_tools,
SLOT(noiseMedian())
);
nMenu->addAction(
QIcon(":/icons/icons/checkerboard.png"),
QString("Bilateral"),
m_tools,
SLOT(noiseBilateral())
);
ui->noiseButton->setMenu(nMenu);
/* -------------------------------------------------------
* MORPHOLOGICAL
* ------------------------------------------------------- */
QMenu* morphMenu = new QMenu(ui->morphButton);
morphMenu->addAction(
QIcon(":/icons/icons/arrow_out.png"),
QString("Dilate"),
m_tools,
SLOT(morphDilate())
);
morphMenu->addAction(
QIcon(":/icons/icons/arrow_in.png"),
QString("Erode"),
m_tools,
SLOT(morphErode())
);
morphMenu->addAction(
QIcon(":/icons/icons/arrow_divide.png"),
QString("Open"),
m_tools,
SLOT(morphOpen())
);
morphMenu->addAction(
QIcon(":/icons/icons/arrow_join.png"),
QString("Close"),
m_tools,
SLOT(morphClose())
);
ui->morphButton->setMenu(morphMenu);
/* -------------------------------------------------------
* EDGE DETECTION
* ------------------------------------------------------- */
QMenu* eMenu = new QMenu(ui->edgeButton);
eMenu->addAction(
QIcon(":/icons/icons/key_s.png"),
QString("Sobel"),
m_tools,
SLOT(edgeSobel())
);
eMenu->addAction(
QIcon(":/icons/icons/key_p.png"),
QString("Prewitt"),
m_tools,
SLOT(edgePrewitt())
);
eMenu->addAction(
QIcon(":/icons/icons/key_r.png"),
QString("Roberts"),
m_tools,
SLOT(edgeRoberts())
);
eMenu->addAction(
QIcon(":/icons/icons/edge_detection.png"),
QString("Laplacian"),
m_tools,
SLOT(edgeLaplacian())
);
eMenu->addAction(
QIcon(":/icons/icons/edge_detection.png"),
QString("Zero-crossing (LoG)"),
m_tools,
SLOT(edgeZero())
);
eMenu->addAction(
QIcon(":/icons/icons/edge_detection.png"),
QString("Canny"),
m_tools,
SLOT(edgeCanny())
);
ui->edgeButton->setMenu(eMenu);
/* -------------------------------------------------------
* TEXTURES
* ------------------------------------------------------- */
QMenu* texMenu = new QMenu(ui->textureButton);
texMenu->addAction(
QIcon(":/icons/icons/flag_airfield_vehicle_safety.png"),
QString("Height map"),
m_tools,
SLOT(mapHeight())
);
texMenu->addAction(
QIcon(":/icons/icons/flag_airfield_vehicle_safety.png"),
QString("Normal map"),
m_tools,
SLOT(mapNormal())
);
texMenu->addAction(
QIcon(":/icons/icons/flag_airfield_vehicle_safety.png"),
QString("Horizon map"),
m_tools,
SLOT(mapHorizon())
);
ui->textureButton->setMenu(texMenu);
/* -------------------------------------------------------
* TRANSFORMATIONS
* ------------------------------------------------------- */
QMenu* transMenu = new QMenu(ui->transformationsButton);
transMenu->addAction(
QIcon(":/icons/icons/videodisplay.png"),
QString("Hough"),
m_tools,
SLOT(houghTransform())
);
transMenu->addAction(
QIcon(":/icons/icons/videodisplay.png"),
QString("Hough - lines"),
m_tools,
SLOT(houghLines())
);
transMenu->addAction(
QIcon(":/icons/icons/videodisplay.png"),
QString("Hough - rectangles"),
m_tools,
SLOT(houghRectangles())
);
transMenu->addAction(
QIcon(":/icons/icons/videodisplay.png"),
QString("Segmentation"),
m_tools,
SLOT(segmentation())
);
ui->transformationsButton->setMenu(transMenu);
/* -------------------------------------------------------
* CORNER DETECTION
* ------------------------------------------------------- */
QMenu* cornerMenu = new QMenu(ui->cornerButton);
cornerMenu->addAction(
QIcon(":/icons/icons/things_digital.png"),
QString("Harris"),
m_tools,
SLOT(cornerHarris())
);
ui->cornerButton->setMenu(cornerMenu);
}
