void imageCallback(const sensor_msgs::ImageConstPtr& 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;
}
// Draw an example circle on the video stream
//if (cv_ptr->image.rows > 60 && cv_ptr->image.cols > 60)
// cv::circle(cv_ptr->image, cv::Point(50, 50), 10, CV_RGB(255,0,0));
// Update GUI Window
cv::imshow(OPENCV_WINDOW, cv_ptr->image);
cv::waitKey(3);
if(readyToFindWire == true)
{
// detect blobs
cv::SimpleBlobDetector::Params params;
params.minThreshold = 40;
params.maxThreshold = 60;
params.thresholdStep = 50;
params.minArea = 100;
params.minConvexity = 0.3;
params.minInertiaRatio = 0.01;
params.maxArea = 8000;
params.maxConvexity = 10;
params.filterByColor = true;
params.filterByCircularity = false;
cv::line( cv_ptr->image , cv::Point(0, cv_ptr->image.rows-1), cv::Point( cv_ptr->image.cols-1, cv_ptr->image.rows-1 ), cv::Scalar::all(255) );
cv::SimpleBlobDetector blobDetector( params );
blobDetector.create("SimpleBlob");
std::vector<cv::KeyPoint> keyPoints;
std::vector< std::vector <cv::Point> > contours;
std::vector< std::vector <cv::Point> > approxContours;
cv::Mat out;
blobDetector.detect( cv_ptr->image, keyPoints );
//blobDetector.detectEx( cv_ptr->image, keyPoints, contours );
cv::drawKeypoints( cv_ptr->image, keyPoints, out, CV_RGB(0,255,0), cv::DrawMatchesFlags::DEFAULT);
approxContours.resize( contours.size() );
for( int i = 0; i < contours.size(); ++i )
{
approxPolyDP( cv::Mat(contours[i]), approxContours[i], 4, 1 );
drawContours( out, contours, i, CV_RGB(rand()&255, rand()&255, rand()&255) );
cv::drawContours( out, approxContours, i, CV_RGB(rand()&255, rand()&255, rand()&255) );
}
if (keyPoints.size() > 0)
{
std::cout << "Keypoints " << keyPoints.size() << std::endl;
cv::imshow(OPENCV_WINDOW_K, out);
//cv::waitKey(0);
}
}
// Output modified video stream
// image_pub_.publish(cv_ptr->toImageMsg());
}
int _tmain(int argc, _TCHAR* argv[])
{
// initModule_nonfree();//if use SIFT or SURF
// Ptr<FeatureDetector> detector = FeatureDetector::create( "SIFT" );
// Ptr<DescriptorExtractor> descriptor_extractor = DescriptorExtractor::create( "SIFT" );
// Ptr<DescriptorMatcher> descriptor_matcher = DescriptorMatcher::create( "BruteForce" );
// if( detector.empty() || descriptor_extractor.empty() )
// throw runtime_error("fail to create detector!");
//
// Mat img1 = imread("E:\\DayBreakZcs\\ImageProcessing\\source\\test3.jpg");
// Mat img2 = imread("E:\\DayBreakZcs\\ImageProcessing\\source\\test2.jpg");
//
// //detect keypoints;
// vector<KeyPoint> keypoints1,keypoints2;
// detector->detect( img1, keypoints1 );
// detector->detect( img2, keypoints2 );
// cout <<"img1:"<< keypoints1.size() << " points img2:" <<keypoints2.size()
// << " points" << endl << ">" << endl;
//
// //compute descriptors for keypoints;
// cout << "< Computing descriptors for keypoints from images..." << endl;
// Mat descriptors1,descriptors2;
// descriptor_extractor->compute( img1, keypoints1, descriptors1 );
// descriptor_extractor->compute( img2, keypoints2, descriptors2 );
//
// cout<<endl<<"Descriptors Size: "<<descriptors2.size()<<" >"<<endl;
// cout<<endl<<"Descriptor's Column: "<<descriptors2.cols<<endl
// <<"Descriptor's Row: "<<descriptors2.rows<<endl;
// cout << ">" << endl;
//
// //Draw And Match img1,img2 keypoints
// Mat img_keypoints1,img_keypoints2;
// drawKeypoints(img1,keypoints1,img_keypoints1,Scalar::all(-1),0);
// drawKeypoints(img2,keypoints2,img_keypoints2,Scalar::all(-1),0);
// imshow("Box_in_scene keyPoints",img_keypoints1);
// imshow("Box keyPoints",img_keypoints2);
//
// descriptor_extractor->compute( img1, keypoints1, descriptors1 );
// vector<DMatch> matches;
// descriptor_matcher->match( descriptors1, descriptors2, matches );
//
// Mat img_matches;
// drawMatches(img1,keypoints1,img2,keypoints2,matches,img_matches,Scalar::all(-1),CV_RGB(255,255,255),Mat(),4);
//
// imshow("Mathc",img_matches);
// waitKey(0);
// return 0;
// return 0;
Mat image = imread("E:\\DayBreakZcs\\ImageProcessing\\source\\test4.jpg");
Mat descriptors;
vector<KeyPoint> keypoints;
SimpleBlobDetector::Params params;
params.minThreshold = 10;
params.maxThreshold = 100;
params.thresholdStep = 10;
params.minArea = 10;
params.minConvexity = 0.3;
params.minInertiaRatio = 0.01;
params.maxArea = 8000;
params.maxConvexity = 10;
params.filterByColor = false;
params.filterByCircularity = false;
SimpleBlobDetector blobDetector( params );
blobDetector.create("SimpleBlob");
blobDetector.detect( image, keypoints );
drawKeypoints(image, keypoints, image, Scalar(255,0,0));
imshow("Mathc",image);
waitKey(0);
}
