/* Callback function to handle ros image messages
*
* PARAMETERS:
* -the pointer that contains the color image
* and its metadata
*
* RETURN: --
*/
void Chroma_processing::imageCb(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
int rows;
int cols;
int channels;
int size;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::MONO8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cur_rgb = (cv_ptr->image).clone();
// contrast fix
cur_rgb.convertTo(cur_rgb, -1, 4, 0);
// gamma correction
gammaCorrection(cur_rgb);
// First run variable initialization
if(frameCounter == -1 )
{
rows = cur_rgb.rows;
cols = cur_rgb.cols;
channels = cur_rgb.channels();
size = rows*cols*channels;
ref_rgb = cur_rgb.clone();
frameCounter++;
}
//~ medianBlur(dif_rgb, dif_rgb, 3);
frameDif(cur_rgb, ref_rgb, dif_rgb, 255*0.33);
ref_rgb = cur_rgb.clone();
//Display
//Blob detection
if(display)
{
detectBlobs(dif_rgb, rgb_rects, 15);
Mat temp = dif_rgb.clone();
for(Rect rect: rgb_rects)
rectangle(temp, rect, 255, 1);
rgb_rects.clear();
imshow("dif_rgb", temp);
moveWindow("dif_rgb", 0, 0);
imshow("cur_rgb", cur_rgb);
moveWindow("cur_rgb", 645, 0);
waitKey(1);
}
///////////////////////////////
///////////////////////////////
/* Image background estimation
*
*
cur_rgb = (cv_ptr->image).clone();
// Edge detection and background estimation
int kernel_size = 3;
int scale = 1;
int delta = 0;
int ddepth = CV_16S;
cur_rgb.convertTo(cur_rgb, -1, 2, 0);
gammaCorrection(cur_rgb);
//~ GaussianBlur( cur_rgb, cur_rgb, Size(3,3), 0, 0, BORDER_DEFAULT );
medianBlur(cur_rgb, cur_rgb, 3);
Laplacian( cur_rgb, cur_rgb, ddepth, kernel_size, scale, delta, BORDER_DEFAULT );
convertScaleAbs( cur_rgb, cur_rgb );
estimateBackground(cur_rgb, back_Mat, rgb_storage, 500, 0.04);
Mat temp_Mat = cur_rgb.clone();
estimateForeground(cur_rgb, back_Mat, temp_Mat);
medianBlur(temp_Mat, temp_Mat, 7);
adaptiveThreshold(temp_Mat, temp_Mat, 255, ADAPTIVE_THRESH_GAUSSIAN_C, THRESH_BINARY, 9, -15);
vector< Rect_<int> > back_rects;
detectBlobs(temp_Mat, back_rects, 15);
imshow("temp_Mat", temp_Mat);
moveWindow("temp_Mat", 645, 0);
*/
has_image = true;
waitKey(1);
cv_ptr->image = cur_rgb;
image_pub.publish(cv_ptr->toImageMsg());
cv_ptr->image = dif_rgb;
image_pub_dif.publish(cv_ptr->toImageMsg());
}
void applyInstafix(Bitmap* bitmap) {
//unsharpMask(bitmap, 3, 0.25f, 2);
gammaCorrection(bitmap);
normaliseColours(bitmap);
}
/* Draw point */
void drawPoint(unsigned char x, unsigned char y, unsigned char brightness){
gPreBufferGreyscale[(x - 1) * 5 + y - 1] = gammaCorrection(brightness);
}