void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
try
{
Mat3b image = cv_bridge::toCvShare(msg, "bgr8")->image;
Mat3b result = yaed.Onvideotracking(image);
loc=yaed.locations();
//ROS_INFO("location: %d,%d",loc.xaxis,loc.yaxis);
//geometry_msgs::Point point;
detecter::CircleTarget target;
target.tar.x=loc.xaxis;
target.tar.y=loc.yaxis;
target.image_height = image.size().height;
target.image_width = image.size().width;
if(target.tar.x!=0&&target.tar.y!=0)
ppb->publish(target);
sensor_msgs::ImagePtr imagemsg;
imagemsg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", result).toImageMsg();
ppub->publish(imagemsg);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
}
}
vpx_image Camera::getLastVPXImage()
{
Mat3b frame = getLastFrame();
vpx_image img;
int w = frame.size().width, h = frame.size().height;
vpx_img_alloc(&img, VPX_IMG_FMT_I420, w, h, 1); // I420 == YUV420P, same as YV12 with U and V switched
size_t i=0, j=0;
for( int line = 0; line < h; ++line )
{
const cv::Vec3b *srcrow = frame[line];
if( !(line % 2) )
{
for( int x = 0; x < w; x += 2 )
{
uint8_t r = srcrow[x][2];
uint8_t g = srcrow[x][1];
uint8_t b = srcrow[x][0];
img.planes[VPX_PLANE_Y][i] = ((66*r + 129*g + 25*b) >> 8) + 16;
img.planes[VPX_PLANE_V][j] = ((-38*r + -74*g + 112*b) >> 8) + 128;
img.planes[VPX_PLANE_U][j] = ((112*r + -94*g + -18*b) >> 8) + 128;
i++;
j++;
r = srcrow[x+1][2];
g = srcrow[x+1][1];
b = srcrow[x+1][0];
img.planes[VPX_PLANE_Y][i] = ((66*r + 129*g + 25*b) >> 8) + 16;
i++;
}
}
else
{
for( int x = 0; x < w; x += 1 )
{
uint8_t r = srcrow[x][2];
uint8_t g = srcrow[x][1];
uint8_t b = srcrow[x][0];
img.planes[VPX_PLANE_Y][i] = ((66*r + 129*g + 25*b) >> 8) + 16;
i++;
}
}
}
int main(int argc, char **argv)
{
if (argc != 3)
{
fprintf(stdout, "usage: %s inputImageName threshNum\n", argv[0]);
return -1;
}
string name(argv[1]);
int thresh = atoi(argv[2]);
Mat3b src = cvLoadImage(argv[1]);
show_mat(src);
Mat3b frame = src.clone();
floodFill(frame, Point(1,1),Scalar(0,0,0), NULL, Scalar::all(thresh), Scalar::all(thresh));
show_mat(frame);
Mat1b gray;
vGrayScale(frame, gray);
// Create mat with alpha channel
cv::Mat4b dst(src.size());
for (int j = 0; j < dst.rows; ++j)
{
for (int i = 0; i < dst.cols; ++i)
{
cv::Vec4b& rgba = dst(j, i);
cv::Vec3b& rgb = src(j, i);
rgba[0] = rgb[0];
rgba[1] = rgb[1];
rgba[2] = rgb[2];
if (gray(j,i) > 0)
rgba[3] = 255;
else
rgba[3] = 0;
}
}
try {
std::vector<int> params;
params.push_back(CV_IMWRITE_PNG_COMPRESSION);
params.push_back(9);
cvSaveImage(string(name+".png").c_str(), &(IplImage)dst, ¶ms[0]);
}
catch (std::runtime_error& ex) {
fprintf(stderr, "Exception converting image to PNG format: %s\n", ex.what());
return 1;
}
fprintf(stdout, "Saved PNG file with alpha data.\n");
waitKey();
}
Mat1b Nieto::filtro(const Mat3b &inColorFrame, int tauInicio, int tauFim, int thres) {
double tempoInicio = static_cast<double>(getTickCount());
Mat1b outBinaryFrameFiltrado = Mat1b(inColorFrame.size());
// converte para cinza
cvtColor(inColorFrame, outBinaryFrameFiltrado, CV_BGR2GRAY);
// aplica o filtro do Nieto
nietoLaneMarkingsDetector(outBinaryFrameFiltrado, outBinaryFrameFiltrado, tauInicio, tauFim);
// aplica o threshold na imagem filtrada
threshold(outBinaryFrameFiltrado, outBinaryFrameFiltrado, thres, 255, CV_THRESH_BINARY);
// calcula o tempo de execu��o
double tempoFim = static_cast<double>(getTickCount());
double tempoExecutando = ((tempoFim - tempoInicio) / getTickFrequency()) * 1000;
// exibe as sa�das definidas (texto e/ou imagem)
if (verbose) cout << "- nieto.filtro: " << tempoExecutando << " ms" << endl;
return outBinaryFrameFiltrado;
}
int main(int argc, char** argv)
{
if(argc != 2){
cout<<"Provide input image";
return 0;
}
// Read image
Mat3b img = imread(argv[1]);
// Binarize image. Text is white, background is black
Mat1b bin;
cvtColor(img, bin, COLOR_BGR2GRAY);
bin = bin < 200;
// Rotate the image according to the found angle
Mat1b rotated;
bin.copyTo(rotated);
// Mat M = getRotationMatrix2D(box.center, box.angle, 1.0); //warpAffine(bin, rotated, M, bin.size());
// Compute horizontal projections
Mat1f horProj;
reduce(rotated, horProj, 1, CV_REDUCE_AVG);
// Remove noise in histogram. White bins identify space lines, black bins identify text lines
float th = 0;
Mat1b hist = horProj <= th;
// Get mean coordinate of white pixels groups
vector<int> ycoords;
int y = 0;
int count = 0;
bool isSpace = false;
for (int i = 0; i < rotated.rows; ++i)
{
if (!isSpace)
{
if (hist(i))
{
isSpace = true;
count = 1;
y = i;
}
}
else
{
if (!hist(i))
{
isSpace = false;
ycoords.push_back(y / count);
}
else
{
y += i;
count++;
}
}
}
// Draw line as final result
Mat3b result;
cvtColor(rotated, result, COLOR_GRAY2BGR);
if(ycoords.size()>0){
for (int i = 0; i < ycoords.size()-1; i++)
{
Rect rect1;
rect1.x = 0;
rect1.y = ycoords[i];
rect1.width = result.size().width;
rect1.height = ycoords[i+1]-ycoords[i];
if(rect1.height > 30){
Mat Image1 = result(rect1);
imshow("Display Image", Image1);
string name = "";
std::stringstream ss;
ss << i;
name = "Image"+ss.str()+".jpg";
imwrite(name,Image1);
waitKey(0);
}
if(i == ycoords.size()-2){
Rect rect1;
rect1.x = 0;
rect1.y = ycoords[i+1];
rect1.width = result.size().width;
rect1.height = result.size().height-ycoords[i+1];
if(rect1.height > 30){
Mat Image1 = result(rect1);
imshow("Display Image", Image1);
string name = "";
std::stringstream ss;
ss << i+1;
name = "Image"+ss.str()+".jpg";
imwrite(name,Image1);
waitKey(0);
}
}
}
}
else
cout<<"No coordinates formed";
return 0;
}
