root / vision / src / v2v3_converter.cpp @ 06738945
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#include <ros/ros.h> |
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#include <vision/TargetDescriptor.h> |
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#include <image_transport/image_transport.h> |
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#include <geometry_msgs/Point.h> |
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#include <tf/transform_listener.h> |
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ros::Publisher pub; |
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int hk = 25; |
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int sk = 255; |
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int vk = 255; |
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bool isRight(sensor_msgs::Image * img, int p){ |
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return (img->data[p + 1] == img->data[p]); |
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} |
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bool isLeft(sensor_msgs::Image * img, int p){ |
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return (img->data[p - 1] == img->data[p]); |
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} |
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bool isUp(sensor_msgs::Image * img, int p){ |
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return (img->data[p - img->width] == img->data[p]);
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} |
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bool isDown(sensor_msgs::Image * img, int p){ |
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return (img->data[p + img->width] == img->data[p]);
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} |
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bool hasAnAdjacent(sensor_msgs::Image * image, int j){ |
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int nl = image->height; // number of lines |
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int nc = image->width;
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int nChannels = image->width / image->step;
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int pos = j / nChannels;
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if ((pos % nc) != 0){ |
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if (isLeft(image, pos)) return true; |
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} |
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if ((pos / nc) != 0){ |
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if (isUp(image, pos)) return true; |
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} |
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if ((pos % nc) != nc - 1){ |
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if (isRight(image, pos)) return true; |
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} |
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if ((pos / nc) != nc - 1){ |
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if (isDown(image, pos)) return true; |
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} |
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else return false; |
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} |
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/* Detects the blobs in an image within above defined constraints. Transforms image into 1
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* for pixels in the blob, 0 for not in the blob.
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*/
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void detectBlobs(sensor_msgs::Image * image, int * comX, int * comY, int * area){ |
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int nl = image->height; // number of lines |
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int nc = image->step; // number of columns |
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int nChannels = image->step / image->width; // effective width |
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// process image
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for (int i = 1; i < nl; i++){ |
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for (int j = 0; j < nc; j+= nChannels){ |
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if (image->data[i * image->width + j] < 30 && image->data[j] > 20){ |
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image->data[i * image->width + j] = 1;
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image->data[i * image->width + j+1] = 1; |
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image->data[i * image->width + j+2] = 1; |
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} |
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else {
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image->data[i * image->width + j] = 0;
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image->data[i * image->width + j+1] = 0; |
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image->data[i * image->width + j+2] = 0; |
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} |
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} |
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} |
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int comXSum = 0; |
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int comYSum = 0; |
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int blobPixelCount = 0; |
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for (int i = 0; i < image->width * image->height; i+=nChannels){ |
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if ( !(image->data[i] == 1 && hasAnAdjacent(image, i)) ){ |
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image->data[i] = 0;
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image->data[i + 1] = 0; |
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image->data[i + 2] = 0; |
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} |
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blobPixelCount++; |
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comXSum += image->data[i] % nc + 1;
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comYSum += image->data[i] / nc + 1;
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} |
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comXSum /= blobPixelCount; |
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comYSum /= blobPixelCount; |
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*area = blobPixelCount; |
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*comX = comXSum; |
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*comY = comYSum; |
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} |
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void convertToHSV(sensor_msgs::Image * orig, sensor_msgs::Image * result){
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int nChannels = orig->width / orig->step;
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// get the max, set it as v
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for (int i = 0; i < orig->height * orig->width; i += nChannels){ |
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int h;
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int s;
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int v;
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int min;
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// get min, max
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if (orig->data[i] >= orig->data[i+1] && orig->data[i] >= orig->data[i+2]){ |
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v = orig->data[i]; |
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if (orig->data[i+1] >= orig->data[i+2]){ |
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min = orig->data[i+2];
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} |
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else min = orig->data[i+1]; |
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} |
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else if (orig->data[i+1] >= orig->data[i] && orig->data[i+1] >= orig->data[i+2]){ |
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v = orig->data[i+1];
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if (orig->data[i] >= orig->data[i+2]){ |
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min = orig->data[i+2];
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} |
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else min = orig->data[i];
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} |
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else {
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v = orig->data[i+2];
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if (orig->data[i] >= orig->data[i+1]){ |
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min = orig->data[i+1];
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} |
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else min = orig->data[i];
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} |
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// set s
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if (v != 0){ |
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s = (v - min) / v; |
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} |
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else s = 0; |
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// set h
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if (s == 0) h = 0; |
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else if (v == orig->data[i]){ |
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h = 60 * (orig->data[i+1] - orig->data[i+2]) / s; |
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} |
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else if (v == orig->data[i+1]){ |
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h = 120 + 60 * (orig->data[i+2] - orig->data[i]) / s; |
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} |
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else {
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h = 240 + 60 * (orig->data[i] - orig->data[i + 1]) / s; |
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} |
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result->data[i] = h; |
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result->data[i+1] = s;
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result->data[i+2] = v;
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} |
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} |
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void target_cb(const sensor_msgs::Image orig) { |
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tf::TransformListener listener; |
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geometry_msgs::Point point; |
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tf::StampedTransform transform; |
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try {
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listener.lookupTransform("/camera", "/kinect", ros::Time(0), transform); |
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} |
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catch (tf::TransformException ex) {
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ROS_ERROR("%s", ex.what());
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} |
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// convert to OpenCV
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sensor_msgs::Image copy = orig; |
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sensor_msgs::Image * source = © // pointer to the image
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sensor_msgs::Image hsvImage = sensor_msgs::Image(); |
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sensor_msgs::Image * hsvPtr = &hsvImage; |
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// convert to HSV
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convertToHSV(source, hsvPtr); |
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// detect blob
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int comX;
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int comY;
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int area;
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detectBlobs(hsvPtr, &comX, &comY, &area); |
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// give distance as inversely proportional to area, for (x,y,z)
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int distance = 100.0 / (float) area; |
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// fill point based on target and tf
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geometry_msgs::Point origPoint; |
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origPoint.x = comX; |
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origPoint.y = comY; |
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origPoint.z = distance; |
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// TODO transform into point
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// for now just publish that
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pub.publish(origPoint); |
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} |
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int main(int argc, char **argv) { |
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ros::init(argc, argv, "v2v3_converter");
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ros::NodeHandle n; |
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ros::Subscriber sub = n.subscribe("openni/image", 1, target_cb); |
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pub = n.advertise<geometry_msgs::Point>("target_3d", 1000); |
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ros::spin(); |
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return 0; |
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} |