void MainWindow::facedetect()
{
if (!loadCheck()) {
return;
}
savePrevStatus();
if (!facedetectDlg) {
facedetectDlg = new FacedetectDialog(cur_img,this);
connect(facedetectDlg, SIGNAL(statusChanged()), this, SLOT(disp_image()));
connect(facedetectDlg, SIGNAL(dialogClosed()), this, SLOT(clean_facedetect()));
}
facedetectDlg->show();
facedetectDlg->activateWindow();
}
void MainWindow::bluropt()
{
if (!loadCheck()) {
return;
}
savePrevStatus();
if (!blurDlg) {
blurDlg = new BlurDialog(cur_img, this);
connect(blurDlg, SIGNAL(statusChanged()), this, SLOT(disp_image()));
connect(blurDlg, SIGNAL(dialogClosed()), this, SLOT(clean_bluropt()));
}
blurDlg->show();
blurDlg->activateWindow();
}
void MainWindow::morphology()
{
if (!loadCheck()) {
return;
}
savePrevStatus();
if (!morphDlg) {
morphDlg = new MorphologyDialog(cur_img, this);
connect(morphDlg, SIGNAL(statusChanged()), this, SLOT(disp_image()));
connect(morphDlg, SIGNAL(dialogClosed()), this, SLOT(clean_morphology()));
}
morphDlg->show();
morphDlg->activateWindow();
}
void MainWindow::houghcheck()
{
if (!loadCheck()) {
return;
}
savePrevStatus();
if (!houghDlg) {
houghDlg = new HoughDialog(cur_img, this);
connect(houghDlg, SIGNAL(statusChanged()), this, SLOT(disp_image()));
connect(houghDlg, SIGNAL(dialogClosed()), this, SLOT(clean_houghcheck()));
}
houghDlg->show();
houghDlg->activateWindow();
}
void MainWindow::powertf()
{
// img.copyTo(cur_img);
if (!loadCheck()) {
return;
}
savePrevStatus();
if (!powertfDlg) {
powertfDlg = new PowertfDialog(cur_img,this);
connect(powertfDlg, SIGNAL(statusChanged()), this, SLOT(disp_image()));
connect(powertfDlg, SIGNAL(powertfClosed()), this, SLOT(clean_powertf()));
}
powertfDlg->show();
powertfDlg->activateWindow();
}
int main(int argc, char **argv)
{
// Setup signal handlers
setup_sig_handler();
// Initialize CV images
int width = 480;
int height = 640;
cv::Mat left_image(height, width, CV_8UC3);
cv::Mat right_image(height, width, CV_8UC3);
cv::Mat disp_image(height, width, CV_16SC3);
// Create VidereCamera object
vc = new VidereCamera();
// Setup ROS structures
ros::init(argc, argv, "videre_camera_node", ros::init_options::AnonymousName);
ros::NodeHandle vc_nh;
// image_transport deals with image topics
image_transport::ImageTransport it(vc_nh);
image_transport::Publisher pub_left = it.advertise("videre_camera/left/image_raw", 1);
image_transport::Publisher pub_right = it.advertise("videre_camera/right/image_raw", 1);
// cv_bridge deals with conversion between cv::Mat and sensor_msgs::Image
cv_bridge::CvImage msg_left;
cv_bridge::CvImage msg_right;
// regular publishers for camera info topics
ros::Publisher pub_info_left = vc_nh.advertise<sensor_msgs::CameraInfo>("videre_camera/left/camera_info", 1);
ros::Publisher pub_info_right = vc_nh.advertise<sensor_msgs::CameraInfo>("videre_camera/right/camera_info", 1);
// camera info messages
sensor_msgs::CameraInfo info_left;
sensor_msgs::CameraInfo info_right;
// We can set encoding prior to loop because it doesn't change
msg_left.encoding = sensor_msgs::image_encodings::BGR8;
msg_right.encoding = sensor_msgs::image_encodings::BGR8;
// We can set camera info params prior to loop because they don't change
info_left.height = vc->cp()->height();
info_left.width = vc->cp()->width();
info_left.distortion_model = vc->cp()->distortion_model();
vc->cp()->left_D(info_left.D);
vc->cp()->left_K(info_left.K);
vc->cp()->left_R(info_left.R);
vc->cp()->left_P(info_left.P);
info_right.height = vc->cp()->height();
info_right.width = vc->cp()->width();
info_right.distortion_model = vc->cp()->distortion_model();
vc->cp()->right_D(info_right.D);
vc->cp()->right_K(info_right.K);
vc->cp()->right_R(info_right.R);
vc->cp()->right_P(info_right.P);
// Set frame_ids
msg_left.header.frame_id = "/videre_camera/left";
msg_right.header.frame_id = "/videre_camera/left";
info_left.header.frame_id = "/videre_camera/left";
info_right.header.frame_id = "/videre_camera/left";
// TO DO: USE CAMERAINFO_MANAGER
ros::Rate loop_rate(15);
while(ros::ok())
{
ros::Time ts = ros::Time::now();
bool got_image = vc->GetData();
left_image = vc->left();
right_image = vc->right();
if(!got_image)
{
ROS_INFO("Error in camera_getimagepair, exiting program");
break;
}
// Set image timestamps
msg_left.header.stamp = ts;
msg_right.header.stamp = ts;
// Set image data
msg_left.image = left_image;
msg_right.image = right_image;
// Publish images
pub_left.publish(msg_left.toImageMsg());
pub_right.publish(msg_right.toImageMsg());
// Set camera info timestamps
info_left.header.stamp = ts;
info_right.header.stamp = ts;
// Publish camera info
pub_info_left.publish(info_left);
pub_info_right.publish(info_right);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
int
main(int argc, char **argv)
{
int i;
int onegamma = 0;
int fbsize = 512;
int overlay = 0;
double gamr = 0, gamg = 0, gamb = 0; /* gamma's */
double f;
ColorMap cm;
FBIO *fbp;
onegamma = 0;
/* check for flags */
bu_opterr = 0;
while ((i=bu_getopt(argc, argv, options)) != -1) {
switch (i) {
case 'H' : fbsize = 1024; break;
case 'o' : overlay++; break;
case 'i' : image = !image; break;
case 'F' : framebuffer = bu_optarg; break;
default : bu_exit(1, "%s", usage);
}
}
if (bu_optind == argc - 1) {
/* single value for all channels */
f = atof(argv[bu_optind]);
checkgamma(f);
gamr = gamg = gamb = 1.0 / f;
onegamma++;
} else if (bu_optind == argc - 4) {
/* different RGB values */
f = atof(argv[bu_optind]);
checkgamma(f);
gamr = 1.0 / f;
f = atof(argv[bu_optind+1]);
checkgamma(f);
gamg = 1.0 / f;
f = atof(argv[bu_optind+2]);
checkgamma(f);
gamb = 1.0 / f;
} else {
bu_exit(1, "%s", usage);
}
if ((fbp = fb_open(framebuffer, fbsize, fbsize)) == FBIO_NULL) {
bu_exit(2, "Unable to open framebuffer\n");
}
/* draw the gamma image if requested */
if (image) disp_image(fbp);
/* get the starting map */
if (overlay) {
fb_rmap(fbp, &cm);
} else {
/* start with a linear map */
for (i = 0; i < 256; i++) {
cm.cm_red[i] = cm.cm_green[i]
= cm.cm_blue[i] = i << 8;
}
}
/* apply the gamma(s) */
for (i = 0; i < 256; i++) {
if (gamr < 0)
cm.cm_red[i] = 65535 * pow((double)cm.cm_red[i] / 65535.0, -1.0/gamr);
else
cm.cm_red[i] = 65535 * pow((double)cm.cm_red[i] / 65535.0, gamr);
if (onegamma && (overlay == 0)) {
cm.cm_green[i] = cm.cm_red[i];
cm.cm_blue[i] = cm.cm_red[i];
} else {
if (gamg < 0)
cm.cm_green[i] = 65535 * pow((double)cm.cm_green[i] / 65535.0, -1.0/gamg);
else
cm.cm_green[i] = 65535 * pow((double)cm.cm_green[i] / 65535.0, gamg);
if (gamb < 0)
cm.cm_blue[i] = 65535 * pow((double)cm.cm_blue[i] / 65535.0, -1.0/gamb);
else
cm.cm_blue[i] = 65535 * pow((double)cm.cm_blue[i] / 65535.0, gamb);
}
}
fb_wmap(fbp, &cm);
fb_close(fbp);
return 0;
}
