void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
//convert ROS image format to opencv image format
cv_bridge::CvImageConstPtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cv::Mat img_hsv(cv_ptr->image.rows, cv_ptr->image.cols,CV_8UC3);
cv::cvtColor(cv_ptr->image, img_hsv, CV_BGR2HSV);
cv::Mat img_thresh = hsvThreshold(img_hsv, hsv);
cv::imshow(window_name, img_thresh);
int c = cv::waitKey(3);
if( (c & 255) == 27 ) // ESC key pressed
{
ROS_INFO("Finished. HSV: %s .", hsv.toString().c_str());
ROS_INFO(" Copy this into the launch file:");
printf(" H: [ %i, %i]\n", hsv.H.min, hsv.H.max);
printf(" S: [ %i, %i]\n", hsv.S.min, hsv.S.max);
printf(" V: [ %i, %i]\n", hsv.V.min, hsv.V.max);
ros::shutdown();
}
}
void GripPipeline::Process(cv::Mat & source0)
{
cv::Mat cvResizeSrc = source0;
cv::Size cvResizeDsize(0, 0);
double cvResizeFx = 0.75; // default Double
double cvResizeFy = 0.75; // default Double
int cvResizeInterpolation = cv::INTER_LINEAR;
cvResize(cvResizeSrc, cvResizeDsize, cvResizeFx, cvResizeFy, cvResizeInterpolation, this->cvResizeOutput);
cv::Mat hsvThresholdInput = cvResizeOutput;
double hsvThresholdHue[] = {69,180};
double hsvThresholdSaturation[] = {172,255};
double hsvThresholdValue[] = {112,255};
hsvThreshold(hsvThresholdInput, hsvThresholdHue, hsvThresholdSaturation, hsvThresholdValue, this->hsvThresholdOutput);
cv::Mat findContoursInput = hsvThresholdOutput;
source0= hsvThresholdOutput;
std::vector<std::vector<cv::Point> > filterContoursContours = findContoursOutput;
cv::Mat cvErodeSrc = hsvThresholdOutput;
cv::Mat cvErodeKernel;
cv::Point cvErodeAnchor(-1, -1);
double cvErodeIterations = 1;
int cvErodeBordertype = cv::BORDER_CONSTANT;
cv::Scalar cvErodeBordervalue(-1);
cvErode(cvErodeSrc, cvErodeKernel, cvErodeAnchor, cvErodeIterations, cvErodeBordertype, cvErodeBordervalue, this->cvErodeOutput);
cv::Mat findLinesInput = cvErodeOutput;
findLines(findLinesInput, this->findLinesOutput);
// print the lines
// GripPipeline::printLines(source0, findLinesOutput);
// find center
GripPipeline::findCenter(source0, findLinesOutput);
// find distance
GripPipeline::findDistance(source0, findLinesOutput, difference);
}
/**
* Runs an iteration of the Pipeline and updates outputs.
*
* Sources need to be set before calling this method.
*
*/
void GripPipeline::process(cv::Mat source0){
//Step CV_resize0:
//input
cv::Mat cvResizeSrc = source0;
cv::Size cvResizeDsize(0, 0);
double cvResizeFx = 0.25; // default Double
double cvResizeFy = 0.25; // default Double
int cvResizeInterpolation = cv::INTER_LINEAR;
cvResize(cvResizeSrc, cvResizeDsize, cvResizeFx, cvResizeFy, cvResizeInterpolation, this->cvResizeOutput);
//Step HSV_Threshold0:
//input
cv::Mat hsvThresholdInput = cvResizeOutput;
double hsvThresholdHue[] = {42.086330935251794, 86.7911714770798};
double hsvThresholdSaturation[] = {32.10431654676259, 207.37691001697794};
double hsvThresholdValue[] = {91.72661870503596, 255.0};
hsvThreshold(hsvThresholdInput, hsvThresholdHue, hsvThresholdSaturation, hsvThresholdValue, this->hsvThresholdOutput);
//Step CV_erode0:
//input
cv::Mat cvErodeSrc = hsvThresholdOutput;
cv::Mat cvErodeKernel;
cv::Point cvErodeAnchor(-1, -1);
double cvErodeIterations = 1; // default Double
int cvErodeBordertype = cv::BORDER_CONSTANT;
cv::Scalar cvErodeBordervalue(-1);
cvErode(cvErodeSrc, cvErodeKernel, cvErodeAnchor, cvErodeIterations, cvErodeBordertype, cvErodeBordervalue, this->cvErodeOutput);
//Step Mask0:
//input
cv::Mat maskInput = cvResizeOutput;
cv::Mat maskMask = cvErodeOutput;
mask(maskInput, maskMask, this->maskOutput);
//Step Find_Blobs0:
//input
cv::Mat findBlobsInput = maskOutput;
double findBlobsMinArea = 0.0; // default Double
double findBlobsCircularity[] = {0.0, 1.0};
bool findBlobsDarkBlobs = true; // default Boolean
findBlobs(findBlobsInput, findBlobsMinArea, findBlobsCircularity, findBlobsDarkBlobs, this->findBlobsOutput);
}
