示例#1
0
文件: main.cpp 项目: arnthorm/Fable
    bool getRectFromTopic(
      recognition::RectFromTopic::Request &request,
      recognition::RectFromTopic::Response &response
    )
    {
      if (lastImage == NULL)
        return false;

      cv_bridge::CvImage cvImg, cvMask;
      cvImg.header.stamp = ros::Time::now();
      cvImg.encoding = sensor_msgs::image_encodings::TYPE_8UC3;

      cvImg.image = lastImage->image(
        safeRect(
          lastImage->image,
          request.x, 
          request.y, 
          request.width, 
          request.height
        )
      );
      response.image = *cvImg.toImageMsg();
      ROS_INFO("Image");
      cv::Mat mask;
      if (lastDepth != NULL)
      {
        ROS_INFO("Depth");
        cv::Mat newDepth = lastDepth->image(
          safeRect(
            lastDepth->image,
            request.x, 
            request.y, 
            request.width, 
            request.height
          )
        );
        _getMaskFromDepth(newDepth, mask);
        cvMask.header.stamp = ros::Time::now();
        cvMask.encoding = sensor_msgs::image_encodings::TYPE_8UC1;
        cvMask.image = mask;
        response.mask = *cvMask.toImageMsg();
      }
      return true;
    }
示例#2
0
文件: main.cpp 项目: arnthorm/Fable
    bool insertTopic(
      recognition::InsertTopic::Request &request,
      recognition::InsertTopic::Response &response
    )
    {
      if (lastImage == NULL)
        return false;

      cv::Mat newImage = lastImage->image(
        safeRect(
          lastImage->image,
          request.x, 
          request.y, 
          request.width, 
          request.height
        )
      );

      cv::Mat mask;
      if (lastDepth != NULL)
      {
        cv::Mat newDepth = lastDepth->image(
          safeRect(
            lastDepth->image,
            request.x, 
            request.y, 
            request.width, 
            request.height
          )
        );
        _getMaskFromDepth(newDepth, mask);
      }

      algorithm->insertIntoDb(newImage, request.label, mask);

      response.success = true;

      return true;
    }
示例#3
0
文件: main.cpp 项目: arnthorm/Fable
    bool recognizeFromTopic(
      recognition::RecognizeFromTopic::Request &request,
      recognition::RecognizeFromTopic::Response &response
    )
    {
      if (lastImage == NULL)
        return false;

      cv::Mat newImg = lastImage->image(
        safeRect(
          lastImage->image,
          request.x, 
          request.y, 
          request.width, 
          request.height
        )
      );

      cv::Mat mask;
      if (lastDepth != NULL)
      {
        cv::Mat newDepth = lastDepth->image(
          safeRect(
            lastDepth->image,
            request.x, 
            request.y, 
            request.width, 
            request.height
          )
        );
        _getMaskFromDepth(newDepth, mask);

      }
      response.label = algorithm->recognize(newImg, mask);
      return true;
    }
    double getSingleSurfProb( const cv::vector< cv::Point > &contour, cv_bridge::CvImagePtr cvPtr, int contourNum = 0 )
    {
        // Get the ROI for this contour
        cv::Rect boundingRect = cv::boundingRect( contour );
        cv::Mat imageROI = cvPtr->image( boundingRect );

        cv::vector< cv::KeyPoint > keypoints;

        surf_.detect( imageROI, keypoints );

        cv::Mat descriptors;
        surfDesc_.compute( imageROI, keypoints, descriptors );

        std::vector< cv::DMatch > matches;
        matcher_.match( descriptors, descriptors_, matches );

        // only take the 25 best matches
        std::nth_element( matches.begin(), matches.begin() + 24, matches.end() );
        matches.erase( matches.begin() + 25 );

        // get the distance of the 25 best matches
        double sum = 0;
        for( int i = 0; i < matches.size(); i++ )
            sum += 0; // matches[i].distance;

        // draw the matches
#ifdef NOIMSHOW
        cv::Mat drawing = cv::Mat::zeros( cvPtr->image.size(), CV_8UC3 );
        cv::drawMatches( roundelImage_, descriptors_,
                         ctPtr->image, descriptors,
                         matches,
                         drawing,
                         cv::Scalar( 255, 255, 255 ) );

        char windowName[255];
        sprintf( windowName, "Surf Matches %d", contourNum );
        cv::namedWindow( windowName );
        cv::imshow( windowName, drawing );
#endif

        // the probability is how close we are to 0
        return( fmax( 1.0 - sum, 0.0 ) );
    }