209 lines
5.1 KiB
C++
209 lines
5.1 KiB
C++
#include "ros/ros.h"
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#include <image_transport/image_transport.h>
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#include <cv_bridge/cv_bridge.h>
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#include <sensor_msgs/image_encodings.h>
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#include <opencv/cv.h>
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#include <sstream>
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using namespace cv;
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using namespace std;
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class Traite_image {
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public:
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Mat prev;
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bool first = true;
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int resize_f = 8;
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ros::NodeHandle n;
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image_transport::ImageTransport it;
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image_transport::Publisher pub;
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image_transport::Subscriber sub;
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Traite_image() : n("~"),it(n) {
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pub = it.advertise("/image_out", 1);
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sub = it.subscribe("/usb_cam/image_raw", 1, [this](const sensor_msgs::ImageConstPtr& img) -> void { this->on_image(img);},ros::VoidPtr(),image_transport::TransportHints("compressed"));
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}
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// This processes an image and publishes the result.
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void on_image(const sensor_msgs::ImageConstPtr& msg) {
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cv_bridge::CvImageConstPtr bridge_input;
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try {
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bridge_input = cv_bridge::toCvShare(msg,sensor_msgs::image_encodings::RGB8);
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}
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catch (Exception& e) {
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std::ostringstream errstr;
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errstr << "cv_bridge exception caught: " << e.what();
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return;
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}
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//Mat& input = const_cast<Mat&>(bridge_input->image);
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const Mat& input = bridge_input->image;
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Mat next;
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resize(input, next, Size(input.size().width/resize_f, input.size().height/resize_f));
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cvtColor(next, next, CV_BGR2GRAY);
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Mat output; // (input.rows, input.cols, CV_32FC2);
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ROS_INFO("got input");
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if (first) {
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prev = next.clone();
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first = false;
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ROS_INFO("first done");
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}
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//unsigned int size = input.rows * input.cols * 3;
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//unsigned char* begin_input = (unsigned char*)(input.data);
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//unsigned char* end_input = (unsigned char*)(input.data) + size;
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//unsigned char* out = (unsigned char*)(output.data);
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//unsigned char* in = begin_input;
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// This is an efficient way to process each channel in each pixel,
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// with an iterator taste.
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//while(in != end_input) {
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// *(out++) = *(ptr_prev) - *(in);
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// *(ptr_prev++) = *(in++);
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//}
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Mat_<Point2f> flow;
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Ptr<DenseOpticalFlow> tvl1 = createOptFlow_DualTVL1();
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tvl1->calc(prev, next, flow);
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drawOpticalFlow(flow, output);
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pub.publish(cv_bridge::CvImage(msg->header, "rgb8", output).toImageMsg());
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// bridge_input is handled by a smart-pointer. No explicit delete needed.
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ROS_INFO("pub");
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prev = next.clone();
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}
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inline bool isFlowCorrect(Point2f u)
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{
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return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9;
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}
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Vec3b computeColor(float fx, float fy)
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{
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static bool first = true;
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// relative lengths of color transitions:
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// these are chosen based on perceptual similarity
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// (e.g. one can distinguish more shades between red and yellow
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// than between yellow and green)
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const int RY = 15;
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const int YG = 6;
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const int GC = 4;
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const int CB = 11;
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const int BM = 13;
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const int MR = 6;
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const int NCOLS = RY + YG + GC + CB + BM + MR;
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static Vec3i colorWheel[NCOLS];
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if (first)
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{
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int k = 0;
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for (int i = 0; i < RY; ++i, ++k)
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colorWheel[k] = Vec3i(255, 255 * i / RY, 0);
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for (int i = 0; i < YG; ++i, ++k)
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colorWheel[k] = Vec3i(255 - 255 * i / YG, 255, 0);
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for (int i = 0; i < GC; ++i, ++k)
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colorWheel[k] = Vec3i(0, 255, 255 * i / GC);
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for (int i = 0; i < CB; ++i, ++k)
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colorWheel[k] = Vec3i(0, 255 - 255 * i / CB, 255);
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for (int i = 0; i < BM; ++i, ++k)
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colorWheel[k] = Vec3i(255 * i / BM, 0, 255);
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for (int i = 0; i < MR; ++i, ++k)
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colorWheel[k] = Vec3i(255, 0, 255 - 255 * i / MR);
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first = false;
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}
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const float rad = sqrt(fx * fx + fy * fy);
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const float a = atan2(-fy, -fx) / (float)CV_PI;
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const float fk = (a + 1.0f) / 2.0f * (NCOLS - 1);
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const int k0 = static_cast<int>(fk);
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const int k1 = (k0 + 1) % NCOLS;
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const float f = fk - k0;
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Vec3b pix;
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for (int b = 0; b < 3; b++)
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{
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const float col0 = colorWheel[k0][b] / 255.f;
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const float col1 = colorWheel[k1][b] / 255.f;
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float col = (1 - f) * col0 + f * col1;
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if (rad <= 1)
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col = 1 - rad * (1 - col); // increase saturation with radius
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else
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col *= .75; // out of range
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pix[2 - b] = static_cast<uchar>(255.f * col);
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}
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return pix;
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}
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void drawOpticalFlow(const Mat_<Point2f>& flow, Mat& dst, float maxmotion = -1)
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{
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dst.create(flow.size(), CV_8UC3);
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dst.setTo(Scalar::all(0));
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// determine motion range:
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float maxrad = maxmotion;
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if (maxmotion <= 0)
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{
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maxrad = 1;
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for (int y = 0; y < flow.rows; ++y)
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{
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for (int x = 0; x < flow.cols; ++x)
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{
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Point2f u = flow(y, x);
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if (!isFlowCorrect(u))
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continue;
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maxrad = max(maxrad, sqrt(u.x * u.x + u.y * u.y));
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}
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}
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}
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for (int y = 0; y < flow.rows; ++y)
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{
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for (int x = 0; x < flow.cols; ++x)
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{
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Point2f u = flow(y, x);
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if (isFlowCorrect(u))
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dst.at<Vec3b>(y, x) = computeColor(u.x / maxrad, u.y / maxrad);
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}
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}
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}
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};
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "test_opencv");
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Traite_image dataset=Traite_image();
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ros::spin();
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return 0;
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}
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