void TabletopDetector::pcCallback(sensor_msgs::PointCloud2::ConstPtr pc_msg) {
if(!pc_lock.try_lock())
return;
pcl::PointCloud<pcl::PointXYZRGB> pc_full, pc_full_frame;
pcl::fromROSMsg(*pc_msg, pc_full);
string base_frame("/base_link");
ros::Time now = ros::Time::now();
tf_listener.waitForTransform(pc_msg->header.frame_id, base_frame, now, ros::Duration(3.0));
pcl_ros::transformPointCloud(base_frame, pc_full, pc_full_frame, tf_listener);
// pc_full_frame is in torso lift frame
cv::Mat cur_height_img = cv::Mat::zeros(imgx, imgy, CV_8U);
BOOST_FOREACH(const pcl::PointXYZRGB& pt, pc_full_frame.points) {
if(pt.x != pt.x || pt.y != pt.y || pt.z != pt.z)
continue;
int32_t x, y, z;
x = (pt.x - minx)/(maxx-minx) * imgx;
y = (pt.y - miny)/(maxy-miny) * imgy;
z = (pt.z - minz)/(maxz-minz) * 256;
if(x < 0 || y < 0) continue;
if(x >= imgx || y >= imgy) continue;
if(z < 0 || z >= 256) continue;
if(cur_height_img.at<uint8_t>(x, y) == 0 || cur_height_img.at<uint8_t>(x, y) < (uint8_t) z)
cur_height_img.at<uint8_t>(x, y) = (uint8_t) z;
}
cv::max(height_img_max, cur_height_img, height_img_max);
cv::Mat cur_height_img_flt;
cur_height_img.convertTo(cur_height_img_flt, CV_32F);
height_img_sum += cur_height_img_flt;
cv::Mat cur_count(imgx, imgy, CV_8U);
cur_count = (cur_height_img > 0) / 255;
cv::Mat cur_count_flt(imgx, imgy, CV_32F);
cur_count.convertTo(cur_count_flt, CV_32F);
height_img_count += cur_count_flt;
cv::Mat height_img_avg_flt = height_img_sum / height_img_count;
cv::Mat height_img_avg(imgx, imgy, CV_8U);
height_img_avg_flt.convertTo(height_img_avg, CV_8U);
height_img_avg = height_img_max;
cv::Mat height_hist(256, 1, CV_32F, cv::Scalar(0));
for(uint32_t x=0;x<imgx;x++)
for(uint32_t y=0;y<imgy;y++) {
if(height_img_avg.at<uint8_t>(x,y) == 255)
height_img_avg.at<uint8_t>(x,y) = 0;
if(height_img_avg.at<uint8_t>(x,y) != 0) {
height_hist.at<float>(height_img_avg.at<uint8_t>(x,y), 0)++;
}
}
////////////////////// Finding best table height /////////////////////////
uint32_t gfiltlen = 25;
float stddev = 256/(maxz-minz) * 0.015;
cv::Mat gauss_filt(gfiltlen, 1, CV_32F, cv::Scalar(0));
for(uint32_t i=0;i<gfiltlen;i++)
gauss_filt.at<float>(i,0) = 0.39894 / stddev * std::exp(-(i-((float)gfiltlen)/2)*(i-((float)gfiltlen)/2)/(2*stddev*stddev));
//cout << gauss_filt;
uint32_t maxval = 0, maxidx = 0;
for(uint32_t i=0;i<256-gfiltlen;i++) {
uint32_t sum = 0;
for(uint32_t j=0;j<gfiltlen;j++)
sum += height_hist.at<float>(i+j,0) * gauss_filt.at<float>(j,0);
if(sum > maxval && i != 0) {
maxval = sum;
maxidx = i+gfiltlen/2;
}
}
int32_t table_height = ((int32_t)maxidx);
//printf("%d %d, ", maxval, maxidx);
/////////////////////////// Getting table binary /////////////////////
cv::Mat height_img_thresh(imgx, imgy, CV_8U);
height_img_thresh = height_img_avg.clone();
for(uint32_t x=0;x<imgx;x++)
for(uint32_t y=0;y<imgy;y++) {
if(std::fabs(table_height - ((int32_t)height_img_thresh.at<uint8_t>(x,y))) < stddev*2)
height_img_thresh.at<uint8_t>(x,y) = 255;
else
height_img_thresh.at<uint8_t>(x,y) = 0;
}
//////////////////////////////////////////////////////////////////
IplImage height_img_thresh_ipl = height_img_thresh;
IplConvKernel* element = cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_RECT);
cvMorphologyEx(&height_img_thresh_ipl, &height_img_thresh_ipl, NULL, element, CV_MOP_CLOSE, num_closes);
//cvMorphologyEx(&height_img_thresh, &height_img_thresh, NULL, element, CV_MOP_OPEN, 2);
cv::Mat height_img_thresh_blob = height_img_thresh.clone();
IplImage blob_img = height_img_thresh_blob;
CBlobResult blobs = CBlobResult(&blob_img, NULL, 0);
//blobs.Filter(blobs, B_EXCLUDE, CBlobGetArea(), B_LESS, 10);
CBlob biggestblob;
blobs.GetNthBlob(CBlobGetArea(), 0, biggestblob);
cv::Mat table_blob(imgx, imgy, CV_8U, cv::Scalar(0)); IplImage table_blob_img = table_blob;
biggestblob.FillBlob(&table_blob_img, cv::Scalar(150));
//drawCvBox2D(blob_img, table_roi, cv::Scalar(50), 1);
CvBox2D table_roi = biggestblob.GetEllipse(); table_roi.angle *= CV_PI/180;
cv::Mat table_hull(imgx, imgy, CV_8U, cv::Scalar(0));
IplImage hull_img = table_hull;
fillCvBox2D(hull_img, table_roi, cv::Scalar(255));
//printf("Cvbox: %f, %f, %f, %f, %f\n", table_roi.center.x, table_roi.center.y, table_roi.size.width, table_roi.size.height, table_roi.angle);
//cv::Mat height_morph(imgx, imgy, CV_8U, cv::Scalar(0));
//cv::Mat tmp_img(imgx, imgy, CV_8U, cv::Scalar(0));
//IplImage t1 = height_img_thresh; IplImage = height_morph;
cv::Mat table_edge(imgx, imgy, CV_8U);
cv::Sobel(table_blob, table_edge, CV_8U, 0, 1, 1);
cv::Mat above_table(imgx, imgy, CV_8U);
bitwise_and(height_img_max > table_height + stddev*2, table_hull, above_table);
IplImage above_table_img = above_table;
CBlobResult obj_blobs = CBlobResult(&above_table_img, NULL, 0);
CBlob biggest_obj_blob;
double objcentx = 0, objcenty = 0;
if(obj_blobs.GetNumBlobs() > 0) {
obj_blobs.GetNthBlob(CBlobGetArea(), 0, biggest_obj_blob);
CvBox2D obj_box = biggest_obj_blob.GetEllipse();
objcenty = obj_box.center.x, objcentx = obj_box.center.y;
}
//double objcentx = 0, objcenty = 0;
//cv::Mat table_edge = height_morph.clone();
//cvMorphologyEx(&height_img, &height_morph, NULL, element, CV_MOP_CLOSE);
//cvFillPoly(&ipl_hull, rpts, npts, 1, cv::Scalar(255));
//cv::Mat obj_img(imgx, imgy, CV_8U, cv::Scalar(0));
//std::vector<int32_t> xfeats, yfeats, zfeats;
//double sumobjx = 0, sumobjy = 0, sumobja = 0;
//for(uint32_t y=0;y<imgx;y++)
// for(uint32_t x=0;x<imgx;x++)
// if(table_hull.at<uint8_t>(x,y) == 255 && height_morph.at<uint8_t>(x,y) == 0
// && height_img_avg.at<uint8_t>(x,y) > table_height + stddev*2) {
// obj_img.at<uint8_t>(x,y) = height_img_avg.at<uint8_t>(x,y);
// sumobjx += x; sumobjy += y; sumobja ++;
// //xfeats.push_back(x); yfeats.push_back(y);
// //zfeats.push_back(height_img.at<uint8_t>(x,y));
// }
//double objcentx = sumobjx/sumobja, objcenty = sumobjy/sumobja;
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* lines = 0;
cv::Mat lines_img = height_img_max.clone();
IplImage lines_img_ipl = lines_img;
IplImage table_edge_ipl = table_edge;
cvMorphologyEx(&table_edge_ipl, &table_edge_ipl, NULL, element, CV_MOP_DILATE, num_edge_dilate);
lines = cvHoughLines2(&table_edge_ipl, storage, CV_HOUGH_STANDARD, 1, degree_bins*CV_PI/180, hough_thresh, 0, 0);
vector<float> theta_bins, rho_bins;
vector<uint32_t> count_bins;
for(uint32_t i=0; i < (uint32_t) lines->total; i++) {
float* line = (float*)cvGetSeqElem(lines, i);
float rho = line[0];
float theta = line[1];
bool found_same = false;
for(int32_t j=theta_bins.size()-1; j >= 0; j--) {
if(fabs(theta_bins[j]/count_bins[j] - theta) < theta_gran &&
fabs(rho_bins[j]/count_bins[j] - rho) < rho_gran) {
theta_bins[j] += theta;
rho_bins[j] += rho;
count_bins[j]++;
found_same = true;
break;
}
}
if(!found_same) {
theta_bins.push_back(theta);
rho_bins.push_back(rho);
count_bins.push_back(1);
}
double a = cos(theta), b = sin(theta);
double x0 = a*rho, y0 = b*rho;
CvPoint pt1, pt2;
a = cos(theta); b = sin(theta);
//a = cos(theta+CV_PI/2); b = sin(theta+CV_PI/2);
//x0 = objcenty; y0 = objcentx;
pt1.x = cvRound(x0 + 1000*(-b));
pt1.y = cvRound(y0 + 1000*(a));
pt2.x = cvRound(x0 - 1000*(-b));
pt2.y = cvRound(y0 - 1000*(a));
cvLine(&lines_img_ipl, pt1, pt2, cv::Scalar(100), 2, 8 );
}
//delete[] lines;
for(uint32_t i=0;i<theta_bins.size();i++) {
theta_bins[i] /= count_bins[i];
rho_bins[i] /= count_bins[i];
}
vector<float> posesx, posesy, poses_theta, dists_obj;
vector<uint32_t> pose_inds;
for(uint32_t i=0;i<theta_bins.size();i++) {
double theta = theta_bins[i];
double rho = rho_bins[i];
double a1 = cos(theta-CV_PI/2), b1 = sin(theta-CV_PI/2);
double a2 = cos(theta-CV_PI), b2 = sin(theta-CV_PI);
double vvcl = a2*b1-b2*a1, deltpx = cos(theta)*rho-objcenty, deltpy = sin(theta)*rho-objcentx;
double pvcr = deltpx*b1 - deltpy*a1;
double t = pvcr/vvcl;
double posey = objcenty + t*a2, posex = objcentx + t*b2;
printf("\naPose %d: (t: %f, %f, %f)[%f, %f](%f, %f)[%f, %f](1 %f, %f)(2 %f, %f)[theta %f, %f]\n", i, t, posex, posey, t*a2, t*b2, a1*rho, b1*rho, objcentx, objcenty, a1, b1, a2, b2, theta, rho);
if(posex == posex && posey == posey &&
posex >= 0 && posey >= 0 &&
posex < imgx && posey < imgy) {
posesx.push_back(posex); posesy.push_back(posey); poses_theta.push_back(theta);
pose_inds.push_back(posesx.size()-1);
float dist = (posex-objcentx)*(posex-objcentx)+(posey-objcenty)*(posey-objcenty);
dists_obj.push_back(dist);
}
//lines_img.at<uint8_t>(posex, posey)
}
boost::function<bool(uint32_t, uint32_t)> sortind = boost::bind(&compind, _1, _2, dists_obj);
sort(pose_inds.begin(), pose_inds.end(), sortind);
vector<float> retposesx, retposesy, retposesr;
grasp_points.poses.clear();
for(uint32_t i=0;i<pose_inds.size();i++) {
float posex = posesx[pose_inds[i]], posey = posesy[pose_inds[i]];
float poser = -poses_theta[pose_inds[i]] + 3*CV_PI/2;
bool same_found = false;
for(int32_t j=((int)retposesx.size())-1;j>=0;j--) {
if(fabs(posex - retposesx[j]) < xgran &&
fabs(posey - retposesy[j]) < ygran) {
same_found = true;
}
}
if(!same_found) {
retposesx.push_back(posex);
retposesy.push_back(posey);
retposesr.push_back(poser);
geometry_msgs::Pose cpose;
cpose.position.x = posex/imgx*(maxx-minx) + minx;
cpose.position.y = posey/imgy*(maxy-miny) + miny;
cpose.position.z = table_height/256.0*(maxz-minz) + minz;
btMatrix3x3 quatmat; btQuaternion quat;
quatmat.setEulerZYX(poser, 0 , 0);
quatmat.getRotation(quat);
cpose.orientation.x = quat.x(); cpose.orientation.y = quat.y();
cpose.orientation.z = quat.z(); cpose.orientation.w = quat.w();
grasp_points.poses.push_back(cpose);
}
}
grasp_points.header.stamp = ros::Time::now();
grasp_points.header.frame_id = base_frame;
pose_arr_pub.publish(grasp_points);
printf("\nCenter (%f, %f)\n", objcentx, objcenty);
for(uint32_t i=0;i<retposesx.size();i++) {
//for(uint32_t i=0;i<1;i++) {
printf("\nPose %d: (%f, %f, r: %f)\n", i, retposesx[i], retposesy[i], retposesr[i]);
//CvPoint centerpt; centerpt.x = objcenty; centerpt.y = objcentx;
CvPoint centerpt; centerpt.x = retposesy[i]; centerpt.y = retposesx[i];
cvCircle(&lines_img_ipl, centerpt, 3, cv::Scalar(200), 2);
}
//cv::Mat obj_feats(xfeats.size(), 1, CV_32S, cv::Scalar(0));
//for(uint32_t i=0;i<xfeats.size();i++) {
// obj_feats.at<uint32_t>(i,0) = xfeats[i]; obj_feats.at<uint32_t>(i,1) = yfeats[i]; obj_feats.at<uint32_t>(i,2) = zfeats[i];
//}
//cvflann::KMeansIndexParams kmips;
//kmips.branching = 32;
//kmips.iterations = 11;
//kmips.centers_init = cvflann::CENTERS_RANDOM;
//kmips.cb_index = 0.2;
//cv::Mat obj_centers;
//CvMat obj_feats_mat = obj_feats;
////cvflann::Matrix<uint32_t> obj_feats_mat;
////cvflann::Matrix<cvflann::EUCLIDEAN> obj_centers_mat;
//int num_clust = cvflann::hierarchicalClustering<CV_32S,CV_32S>(obj_feats_mat, obj_centers, kmips);
//printf("\nNum clust: %d \n", num_clust);
cv::Mat table_edge2 = table_edge.clone();
IplImage table_edge_ipl2 = table_edge2;
cvMorphologyEx(&table_edge_ipl2, &table_edge_ipl2, NULL, element, CV_MOP_DILATE, 3);
BOOST_FOREACH(const pcl::PointXYZRGB& pt, pc_full_frame.points) {
if(pt.x != pt.x || pt.y != pt.y || pt.z != pt.z)
continue;
int32_t x, y, z;
x = (pt.x - minx)/(maxx-minx) * imgx;
y = (pt.y - miny)/(maxy-miny) * imgy;
z = (pt.z - minz)/(maxz-minz) * 256;
if(x < 0 || y < 0) continue;
if(x >= imgx || y >= imgy) continue;
if(z < 0 || z >= 256) continue;
if(table_blob.at<uint8_t>(x,y) == 255 &&
std::fabs(table_height - z) < stddev*2) {
uint32_t red = 0xFFFF0000;
((uint32_t*) &pt.rgb)[0] = red;
}
if(table_edge2.at<uint8_t>(x,y) == 255 &&
std::fabs(table_height - z) < stddev*4) {
uint32_t blue = 0xFF0000FF;
((uint32_t*) &pt.rgb)[0] = blue;
}
}
cv_bridge::CvImage cvb_height_img;
//cvb_height_img.image = height_img_avg;
//cvb_height_img.image = height_img_max;
//cvb_height_img.image = height_morph;
//cvb_height_img.image = obj_img;
cvb_height_img.image = lines_img;
//cvb_height_img.image = height_img_thresh_blob;
//cvb_height_img.image = table_blob;
//cvb_height_img.image = height_img_thresh;
//cvb_height_img.image = above_table;
//cvb_height_img.image = table_edge;
cvb_height_img.header.stamp = ros::Time::now();
cvb_height_img.header.frame_id = base_frame;
cvb_height_img.encoding = enc::MONO8;
height_pub.publish(cvb_height_img.toImageMsg());
pc_full_frame.header.stamp = ros::Time::now();
pc_full_frame.header.frame_id = base_frame;
pc_pub.publish(pc_full_frame);
if(grasp_points.poses.size() > 0)
grasp_points_found = true;
//delete element;
pc_lock.unlock();
}
void TabletopSegmentor::pcCallback(sensor_msgs::PointCloud2::ConstPtr pc_msg) {
if(!pc_lock.try_lock())
return;
pcl::PointCloud<pcl::PointXYZRGB> pc_full, pc_full_frame;
pcl::fromROSMsg(*pc_msg, pc_full);
string base_frame("/base_link");
ros::Time now = ros::Time::now();
tf_listener.waitForTransform(pc_msg->header.frame_id, base_frame, now, ros::Duration(3.0));
pcl_ros::transformPointCloud(base_frame, pc_full, pc_full_frame, tf_listener);
// pc_full_frame is in torso lift frame
cv::Mat cur_height_img = cv::Mat::zeros(imgx, imgy, CV_8U);
BOOST_FOREACH(const pcl::PointXYZRGB& pt, pc_full_frame.points) {
if(pt.x != pt.x || pt.y != pt.y || pt.z != pt.z)
continue;
int32_t x, y, z;
x = (pt.x - minx)/(maxx-minx) * imgx;
y = (pt.y - miny)/(maxy-miny) * imgy;
z = (pt.z - minz)/(maxz-minz) * 256;
if(x < 0 || y < 0) continue;
if(x >= imgx || y >= imgy) continue;
if(z < 0 || z >= 256) continue;
if(cur_height_img.at<uint8_t>(x, y) == 0 || cur_height_img.at<uint8_t>(x, y) < (uint8_t) z)
cur_height_img.at<uint8_t>(x, y) = (uint8_t) z;
}
cv::max(height_img_max, cur_height_img, height_img_max);
cv::Mat cur_height_img_flt;
cur_height_img.convertTo(cur_height_img_flt, CV_32F);
height_img_sum += cur_height_img_flt;
cv::Mat cur_count(imgx, imgy, CV_8U);
cur_count = (cur_height_img > 0) / 255;
cv::Mat cur_count_flt(imgx, imgy, CV_32F);
cur_count.convertTo(cur_count_flt, CV_32F);
height_img_count += cur_count_flt;
cv::Mat height_img_avg_flt = height_img_sum / height_img_count;
cv::Mat height_img_avg(imgx, imgy, CV_8U);
height_img_avg_flt.convertTo(height_img_avg, CV_8U);
height_img_avg = height_img_max;
cv::Mat height_hist(256, 1, CV_32F, cv::Scalar(0));
for(uint32_t x=0;x<imgx;x++)
for(uint32_t y=0;y<imgy;y++) {
if(height_img_avg.at<uint8_t>(x,y) == 255)
height_img_avg.at<uint8_t>(x,y) = 0;
if(height_img_avg.at<uint8_t>(x,y) != 0) {
height_hist.at<float>(height_img_avg.at<uint8_t>(x,y), 0)++;
}
}
////////////////////// Finding best table height /////////////////////////
uint32_t gfiltlen = 25;
float stddev = 256/(maxz-minz) * 0.015;
cv::Mat gauss_filt(gfiltlen, 1, CV_32F, cv::Scalar(0));
for(uint32_t i=0;i<gfiltlen;i++)
gauss_filt.at<float>(i,0) = 0.39894 / stddev * std::exp(-(i-((float)gfiltlen)/2)*(i-((float)gfiltlen)/2)/(2*stddev*stddev));
//cout << gauss_filt;
uint32_t maxval = 0, maxidx = 0;
for(uint32_t i=0;i<256-gfiltlen;i++) {
uint32_t sum = 0;
for(uint32_t j=0;j<gfiltlen;j++)
sum += height_hist.at<float>(i+j,0) * gauss_filt.at<float>(j,0);
if(sum > maxval && i != 0) {
maxval = sum;
maxidx = i+gfiltlen/2;
}
}
int32_t table_height = ((int32_t)maxidx);
//printf("%d %d, ", maxval, maxidx);
/////////////////////////// Getting table binary /////////////////////
cv::Mat height_img_thresh(imgx, imgy, CV_8U);
height_img_thresh = height_img_avg.clone();
for(uint32_t x=0;x<imgx;x++)
for(uint32_t y=0;y<imgy;y++) {
if(std::fabs(table_height - ((int32_t)height_img_thresh.at<uint8_t>(x,y))) < stddev*2)
height_img_thresh.at<uint8_t>(x,y) = 255;
else
height_img_thresh.at<uint8_t>(x,y) = 0;
}
//////////////////////////////////////////////////////////////////
IplImage height_img_thresh_ipl = height_img_thresh;
IplConvKernel* element = cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_RECT);
cvMorphologyEx(&height_img_thresh_ipl, &height_img_thresh_ipl, NULL, element, CV_MOP_CLOSE, num_closes);
//cvMorphologyEx(&height_img_thresh, &height_img_thresh, NULL, element, CV_MOP_OPEN, 2);
cv::Mat height_img_thresh_blob = height_img_thresh.clone();
IplImage blob_img = height_img_thresh_blob;
CBlobResult blobs = CBlobResult(&blob_img, NULL, 0);
//blobs.Filter(blobs, B_EXCLUDE, CBlobGetArea(), B_LESS, 10);
CBlob biggestblob;
blobs.GetNthBlob(CBlobGetArea(), 0, biggestblob);
cv::Mat table_blob(imgx, imgy, CV_8U, cv::Scalar(0)); IplImage table_blob_img = table_blob;
biggestblob.FillBlob(&table_blob_img, cv::Scalar(150));
//drawCvBox2D(blob_img, table_roi, cv::Scalar(50), 1);
CvBox2D table_roi = biggestblob.GetEllipse(); table_roi.angle *= CV_PI/180;
cv::Mat table_hull(imgx, imgy, CV_8U, cv::Scalar(0));
IplImage hull_img = table_hull;
fillCvBox2D(hull_img, table_roi, cv::Scalar(255));
//printf("Cvbox: %f, %f, %f, %f, %f\n", table_roi.center.x, table_roi.center.y, table_roi.size.width, table_roi.size.height, table_roi.angle);
//cv::Mat height_morph(imgx, imgy, CV_8U, cv::Scalar(0));
//cv::Mat tmp_img(imgx, imgy, CV_8U, cv::Scalar(0));
//IplImage t1 = height_img_thresh; IplImage = height_morph;
cv::Mat above_table(imgx, imgy, CV_8U);
bitwise_and(height_img_max > table_height + stddev*2, table_hull, above_table);
IplImage above_table_img = above_table;
CBlobResult obj_blobs = CBlobResult(&above_table_img, NULL, 0);
obj_blobs.Filter(obj_blobs, B_EXCLUDE, CBlobGetArea(), B_LESS, obj_min_area);
CBlob cur_obj_blob;
vector<float> obj_cents_x, obj_cents_y, obj_cents_r, obj_areas, obj_dists;
vector<uint32_t> obj_inds;
for(int i=0;i<obj_blobs.GetNumBlobs();i++) {
obj_blobs.GetNthBlob(CBlobGetArea(), i, cur_obj_blob);
CvBox2D obj_box = cur_obj_blob.GetEllipse();
obj_cents_x.push_back(obj_box.center.x);
obj_cents_y.push_back(obj_box.center.y);
obj_cents_r.push_back(obj_box.angle * CV_PI/180);
obj_areas.push_back(cur_obj_blob.Area());
obj_dists.push_back((obj_box.center.x-imgx/2)*(obj_box.center.x-imgx/2)+obj_box.center.y*obj_box.center.y);
obj_inds.push_back(i);
}
boost::function<bool(uint32_t, uint32_t)> sortind = boost::bind(&compind, _1, _2, obj_dists);
sort(obj_inds.begin(), obj_inds.end(), sortind);
obj_poses.poses.clear();
for(uint32_t i=0;i<obj_inds.size();i++) {
float posey = obj_cents_x[obj_inds[i]], posex = obj_cents_y[obj_inds[i]];
float poser = -obj_cents_r[obj_inds[i]] + 3*CV_PI/2;
geometry_msgs::Pose cpose;
cpose.position.x = posex/imgx*(maxx-minx) + minx;
cpose.position.y = posey/imgy*(maxy-miny) + miny;
cpose.position.z = table_height/256.0*(maxz-minz) + minz;
btMatrix3x3 quatmat; btQuaternion quat;
quatmat.setEulerZYX(poser, 0 , 0);
quatmat.getRotation(quat);
cpose.orientation.x = quat.x(); cpose.orientation.y = quat.y();
cpose.orientation.z = quat.z(); cpose.orientation.w = quat.w();
CvPoint centerpt; centerpt.y = posex; centerpt.x = posey;
printf("[%d](%f, %f, area: %f)\n", i, posex, posey, obj_areas[obj_inds[i]]);
IplImage height_img_max_ipl = height_img_max;
cvCircle(&height_img_max_ipl, centerpt, 3, cv::Scalar(200), 2);
obj_poses.poses.push_back(cpose);
}
obj_poses.header.stamp = ros::Time::now();
obj_poses.header.frame_id = base_frame;
obj_arr_pub.publish(obj_poses);
cv_bridge::CvImage cvb_height_img;
//cvb_height_img.image = height_img_avg;
//cvb_height_img.image = height_img_max;
//cvb_height_img.image = height_morph;
//cvb_height_img.image = obj_img;
//cvb_height_img.image = height_img_thresh_blob;
//cvb_height_img.image = table_blob;
//cvb_height_img.image = height_img_thresh;
cvb_height_img.image = above_table;
//cvb_height_img.image = table_edge;
cvb_height_img.header.stamp = ros::Time::now();
cvb_height_img.header.frame_id = base_frame;
cvb_height_img.encoding = enc::MONO8;
height_pub.publish(cvb_height_img.toImageMsg());
pc_full_frame.header.stamp = ros::Time::now();
pc_full_frame.header.frame_id = base_frame;
//pc_pub.publish(pc_full_frame);
if(obj_poses.poses.size() > 0)
obj_poses_found = true;
//delete element;
pc_lock.unlock();
}
float thresholdSegmentation(Rect r, ntk::RGBDImage* current_frame, Mat& dst){
Mat depth = current_frame->depth();
Rect& rr = r;
Mat depthROI = depth(rr), maskROI;
Mat& rDepthROI = depthROI, &rMaskROI = maskROI;
double var = 0.3;
// maskROI for nonZero values in the Face Region
inRange(depthROI, Scalar::all(0.001), Scalar::all(255), maskROI);
// Mean depth of Face Region
Scalar mFace = cv::mean(rDepthROI, rMaskROI);
//mFace[0] = mFace[0] - mFace[0] * var;
inRange(depthROI, Scalar::all(0.001), mFace, maskROI);
mFace = cv::mean(rDepthROI, rMaskROI);
//inRange(depthROI, Scalar::all(0.001), mFace, maskROI);
//mFace = cv::mean(rDepthROI, rMaskROI);
// Mask for nearer than the mean of face.
inRange(depth, Scalar::all(0.001), mFace, dst);
Mat rgbImage = current_frame->rgb();
Mat outFrame = cvCreateMat(rgbImage.rows, rgbImage.cols, CV_32FC3);
rgbImage.copyTo(outFrame, dst);
Mat outFrameROI;
outFrameROI = outFrame(rr);
//cvCopy(&rgbImage, &outFrame, &dst);
//rgbImageROI = rgbImageROI(rr);
imshow("ROI", outFrameROI);
//imshow("thresholdSeg", dst);
// For debug of cvblobslib
// Display the color image
//imshow("faceRIO", maskROI);
imshow("faceRIO", outFrameROI);
bool iswrite;
const int nchannel = 1;
vector<Rect> faces;
//iswrite = imwrite("faceROI.png", maskROI);
iswrite = imwrite("faceROI.png", outFrameROI);
//iswrite = cvSaveImage("faceROI.jpeg", pOutFrame, &nchannel);
// ---- blob segmentation on maskROI by using cvblobslib ----
// --- Third Trial ---
//visualizeBlobs("faceROI.png", "faceRIO");
// --- First Trial Not Successful ---
//Mat maskROIThr=cvCreateMat(maskROI.rows, maskROI.cols, CV_8UC1);
//maskROIThr = maskROI;
//IplImage imgMaskROIThr = maskROIThr;
//IplImage* pImgMaskROIThr = &imgMaskROIThr;
//cvThreshold(pImgMaskROIThr, pImgMaskROIThr, 0.1, 255, CV_THRESH_BINARY_INV);
// --- Second Trial ---
IplImage* original = cvLoadImage("faceROI.png", 0);
IplImage* originalThr = cvCreateImage(cvGetSize(original), IPL_DEPTH_8U, 1);
IplImage* displayBiggestBlob = cvCreateImage(cvGetSize(original), IPL_DEPTH_8U, 3);
CBlobResult blobs;
CBlob biggestBlob;
//IplImage source = maskROIThr; IplImage* pSource = &source;
//blobs = CBlobResult(
cvThreshold(original, originalThr, 0.1, 255, CV_THRESH_BINARY_INV);
blobs = CBlobResult( originalThr, NULL, 255);
printf("%d blobs \n", blobs.GetNumBlobs());
blobs.GetNthBlob(CBlobGetArea(), 0, biggestBlob);
biggestBlob.FillBlob(displayBiggestBlob, CV_RGB(255, 0, 0));
// Drawing the eclipse and Rect on the blob
Mat mat(displayBiggestBlob);
cv::RotatedRect blobEllipseContour;
cv::Rect blobRectContour;
//RotatedRect blobEllipseContour;
blobEllipseContour = biggestBlob.GetEllipse();
blobRectContour = biggestBlob.GetBoundingBox();
//cv::ellipse(
cv::ellipse(mat, blobEllipseContour, cv::Scalar(0,255, 0), 3, CV_AA);
cv::rectangle(mat, blobRectContour, cv::Scalar(255, 0, 0), 3, CV_AA);
//cv::ellipse(mat, blobEllipseContour);
float headOritation = blobEllipseContour.angle;
if (headOritation <= 180)
headOritation = headOritation - 90;
else
headOritation = headOritation - 270;
cv::putText(mat,
cv::format("%f degree", headOritation),
Point(10,20), 0, 0.5, Scalar(255,0,0,255));
cv::imshow("faceRIO", mat);
return(headOritation);
}