diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..1d74e21 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +.vscode/ diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 835c7ef..faf7018 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package cmvision ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.5.0 (2021-08-23) +------------------ +* Updated cmvision for OpenCV4 and ros-noetic + 0.4.1 (2013-09-03) ------------------ * fixed missing fltk dependency. closes `#1 `_ diff --git a/CMakeLists.txt b/CMakeLists.txt index ff28a1d..545edcc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -24,7 +24,10 @@ generate_messages( catkin_package(CATKIN_DEPENDS message_runtime std_msgs) -include_directories(${catkin_INCLUDE_DIRS}) +include_directories( + ${catkin_INCLUDE_DIRS} + include +) find_package(wxWidgets REQUIRED) include(${wxWidgets_USE_FILE}) @@ -53,7 +56,6 @@ add_executable(colorgui src/color_gui.cpp ) target_link_libraries(colorgui - fltk ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${wxWidgets_LIBRARIES} @@ -66,7 +68,9 @@ install(TARGETS cmvision colorgui RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) -install(FILES cmvision.launch colors.txt - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch +) +install(DIRECTORY config/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config ) - diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..8000a6f --- /dev/null +++ b/LICENSE @@ -0,0 +1,504 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +[This is the first released version of the Lesser GPL. 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Tested on Ubuntu 18.04 +## cmvision port for ROS Noetic. Tested on Ubuntu 20.04 -### Modifications done by Prasanth Suresh(ps32611@uga.edu) +![demo.gif](static/demo.gif) -Steps to get it working: +### Dependancies -0.) Clone this repository into your workspace. +* WxWidgets -1.) This package depends on wxWidgets. Download the source file for wxWidgets from this [link](https://www.wxwidgets.org/downloads/). + ```sh + apt install --no-install-recommends -y \ + libgtk-3-dev \ + wx3.0-headers \ + libwxgtk3.0-gtk3-dev + ``` +### Usage -2.) Follow these [instructions](https://wiki.wxwidgets.org/Compiling_and_getting_started) to compile and install the package correctly. You can use this [link](https://www.binarytides.com/install-wxwidgets-ubuntu/) as an additional guide but I wouldn't entirely depend on it. +1. Use `colorgui` node to select the color ranges for your blobs (Sample launch file in `launch/colorgui.launch`) -3.) I ran into an issue with the FindwxWidgets.cmake file while compiling the cmvision package with catkin. This file can be located at: /usr/share/cmake-3.10/Modules -I had to use the modified file provided [here](https://github.com/microsoft/vcpkg/issues/4756#issuecomment-620122321). Replace the contents of FindwxWidgets.cmake file with these modifications. + * Click on the colors you want as the images play on the window. The **AB** range will get updated with the each click. + Use this range in the colors file (Sample file in `config/colors.txt`) -4.) After doing a sudo apt-get update && sudo apt-get upgrade you should be good to go. Now compile cmvision using catkin_make. +2. Use `cmvision` node for blob detection (Sample launch file in `launch/cmvision.launch`) -5.) In the catkin_ws/src/cmvision/cmvision.launch file, set the camera topic to your camera topic and in the catkin_ws/src/cmvision/colors.txt specify the blob colors you -need to detect. + * Pass the colors file with param `cmvision/color_file` -6.) After running roslaunch cmvision cmvision.launch, you should be able to see the results visually and by using rostopic echo /blobs + * Set param `cmvision/debug_on` to `true` to display the detections +### TODO -![Gazebo Blobs](https://github.com/prasuchit/cmvision/blob/lab-space-devel/sample_output_images/gazebo_blobs.png) +1. Remove WxWidgets dependancy and use OpenCV highgui for `colorgui` + +2. Publish debug image to a rostopic with a new param to enable it + +3. Remove the need for the spaces being exactly correctly for specifying colors in `colors.txt` + +## Credits + +- [Original work](http://library.isr.ist.utl.pt/docs/roswiki/cmvision.html) by Nate Koenig + +- [ROS Hydro port](https://github.com/utexas-bwi/cmvision) by Piyush Khandelwal + +- [ROS Melodic port](https://github.com/kbogert/cmvision) by Kenneth Bogert diff --git a/cmvision.launch b/cmvision.launch deleted file mode 100644 index 4f6ea9b..0000000 --- a/cmvision.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/colors.txt b/colors.txt deleted file mode 100644 index a63ee2d..0000000 --- a/colors.txt +++ /dev/null @@ -1,15 +0,0 @@ -[Colors] -(255, 0, 0) 0.000000 10 Red -( 0, 255, 0) 0.000000 10 Green -( 0, 0, 255) 0.000000 10 Blue -( 255, 255, 0) 0.000000 10 Yellow -( 255, 0, 255) 0.000000 10 Purple -( 0, 255, 255) 0.000000 10 Teal - -[Thresholds] -( 72:80, 83:88, 248:255 ) -( 144:154, 38:48, 16:26 ) -( 24:34, 250:255, 102:112 ) -( 220:230, 0:5, 143:153 ) -( 100:110, 207:217, 229:239) -( 173:183, 165:175, 0:5 ) diff --git a/config/colors.txt b/config/colors.txt new file mode 100644 index 0000000..f25bec3 --- /dev/null +++ b/config/colors.txt @@ -0,0 +1,11 @@ +# Specify Thresholds fol blob detection and Colors for marking the blobs in the window in debug mode +# You can add multiple Thresholds/Colors +# Each Threshold corresponds to each Color in the specified order + +[Thresholds] +( 157:163, 145:151 ) +#( 131:138, 88:101 ) + +[Colors] +(255, 0, 0) 0.000000 10 Red +#(0, 0, 255) 0.000000 10 Blue \ No newline at end of file diff --git a/src/capture.h b/include/cmvision/capture.h similarity index 100% rename from src/capture.h rename to include/cmvision/capture.h diff --git a/src/cmvision.h b/include/cmvision/cmvision.h similarity index 100% rename from src/cmvision.h rename to include/cmvision/cmvision.h diff --git a/src/cmvision_color_blob_finder.h b/include/cmvision/cmvision_color_blob_finder.h similarity index 98% rename from src/cmvision_color_blob_finder.h rename to include/cmvision/cmvision_color_blob_finder.h index aab807f..4f5cd75 100644 --- a/src/cmvision_color_blob_finder.h +++ b/include/cmvision/cmvision_color_blob_finder.h @@ -27,7 +27,7 @@ #include #include -#include +#include #include #include "conversions.h" diff --git a/src/color_gui.h b/include/cmvision/color_gui.h similarity index 99% rename from src/color_gui.h rename to include/cmvision/color_gui.h index 8e61cee..ab225ee 100644 --- a/src/color_gui.h +++ b/include/cmvision/color_gui.h @@ -30,7 +30,7 @@ /** \author Nate Koenig and Peter Pastor */ #include -#include +#include #include #include diff --git a/src/conversions.h b/include/cmvision/conversions.h similarity index 100% rename from src/conversions.h rename to include/cmvision/conversions.h diff --git a/launch/cmvision.launch b/launch/cmvision.launch new file mode 100644 index 0000000..061fce8 --- /dev/null +++ b/launch/cmvision.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/colorgui.launch b/launch/colorgui.launch new file mode 100644 index 0000000..fb56be8 --- /dev/null +++ b/launch/colorgui.launch @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/package.xml b/package.xml index fdf043e..2093881 100644 --- a/package.xml +++ b/package.xml @@ -1,12 +1,13 @@ cmvision - 0.4.1 + 0.5.0 - Node for the Color Machine Vision Project, used for fast color blob detection + Node for fast color blob detection - Piyush Khandelwal + Nate Koenig + Teshan Liyanage LGPL diff --git a/src/cmvision.cc b/src/cmvision.cc index 2be53bf..1d84034 100644 --- a/src/cmvision.cc +++ b/src/cmvision.cc @@ -31,7 +31,7 @@ 2000-07-20: Added dual threshold capability (JRB) =========================================================================*/ -#include "cmvision.h" +#include "cmvision/cmvision.h" #include #if !defined (WIN32) #include @@ -696,69 +696,75 @@ bool CMVision::loadOptions(const char *filename) // Loop ever lines, processing via a simple parser state = 0; - while(fgets(buf,CMV_MAX_BUF,in)){ - switch(state){ - case CMV_STATE_SCAN: - n = sscanf(buf,"[%s",str); - if(n == 1){ - if(!strncasecmp(str,"colors]",CMV_MAX_BUF)){ - state = CMV_STATE_COLORS; - i = 0; - }else if(!strncasecmp(str,"thresholds]",CMV_MAX_BUF)){ - state = CMV_STATE_THRESH; - i = 0; - }else{ - printf("CMVision: Ignoring unknown option header '%s'.\n",str); - } - } - break; - case CMV_STATE_COLORS: - n = sscanf(buf,"(%d,%d,%d) %lf %d %s",&r,&g,&b,&merge,&exp_num,str); - if(n == 6){ - // printf("(%d,%d,%d) %lf %d '%s'\n", - // r,g,b,merge,exp_num,str); fflush(stdout); - if(i < CMV_MAX_COLORS){ - c = &colors[i]; - c->color.red = r; - c->color.green = g; - c->color.blue = b; - c->name = strdup(str); - c->merge = merge; - c->expected_num = exp_num; - i++; - }else{ - printf("CMVision: Too many colors, ignoring '%s'.\n",str); - } - }else if(n == 0){ - state = CMV_STATE_SCAN; + while (fgets(buf, CMV_MAX_BUF, in)) { + // skip comment lines + if (buf[0] == '#') + continue; + + switch (state) { + case CMV_STATE_SCAN: + n = sscanf(buf, "[%s", str); + if (n == 1) { + + if (!strncasecmp(str, "colors]", CMV_MAX_BUF)) { + state = CMV_STATE_COLORS; + i = 0; + } else if (!strncasecmp(str, "thresholds]", CMV_MAX_BUF)) { + state = CMV_STATE_THRESH; + i = 0; + } else { + printf("CMVision: Ignoring unknown option header '%s'.\n", str); } - break; - case CMV_STATE_THRESH: - n = sscanf(buf,"(%d:%d,%d:%d)",&a1,&a2,&b1,&b2); - if(n == 4){ - // printf("(%d:%d,%d:%d,%d:%d)\n",l1,l2,a1,a2,b1,b2); - if(i < CMV_MAX_COLORS){ - c = &colors[i]; - c->a_low = a1; c->a_high = a2; - c->b_low = b1; c->b_high = b2; - - k = (1 << i); - set_bits(a_class,CMV_COLOR_LEVELS,a1,a2,k); - set_bits(b_class,CMV_COLOR_LEVELS,b1,b2,k); - i++; - }else{ - printf("CMVision: Too many thresholds.\n"); - } - }else if(n == 0){ - state = CMV_STATE_SCAN; + } + break; + case CMV_STATE_COLORS: + n = sscanf(buf, "(%d,%d,%d) %lf %d %s", &r, &g, &b, &merge, &exp_num, str); + if (n == 6) { + // printf("RGB: (%d,%d,%d) %lf %d '%s'\n", + // r,g,b,merge,exp_num,str); fflush(stdout); + if (i < CMV_MAX_COLORS) { + c = &colors[i]; + c->color.red = r; + c->color.green = g; + c->color.blue = b; + c->name = strdup(str); + c->merge = merge; + c->expected_num = exp_num; + i++; + } else { + printf("CMVision: Too many colors, ignoring '%s'.\n", str); } - break; + } else if (n == 0) { + state = CMV_STATE_SCAN; + } + break; + case CMV_STATE_THRESH: + n = sscanf(buf, "(%d:%d,%d:%d)", &a1, &a2, &b1, &b2); + if (n == 4) { + if (i < CMV_MAX_COLORS) { + c = &colors[i]; + c->a_low = a1; + c->a_high = a2; + c->b_low = b1; + c->b_high = b2; + + k = (1 << i); + set_bits(a_class, CMV_COLOR_LEVELS, a1, a2, k); + set_bits(b_class, CMV_COLOR_LEVELS, b1, b2, k); + i++; + } else { + printf("CMVision: Too many thresholds.\n"); + } + } else if (n == 0) { + state = CMV_STATE_SCAN; + } + break; } } /* for(i=0; i +#include + #include #include -#include "cmvision_color_blob_finder.h" +#include "cmvision/cmvision_color_blob_finder.h" + using namespace color_blob_track; -CMVisionColorBlobFinder::CMVisionColorBlobFinder() : - debug_on_(false), width_(0), height_(0), color_filename_(""), blob_count_(0), vision_(NULL), mean_shift_on_(false), spatial_radius_(0), - color_radius_(0) +CMVisionColorBlobFinder::CMVisionColorBlobFinder() : debug_on_(false), width_(0), height_(0), color_filename_(""), blob_count_(0), vision_(NULL), mean_shift_on_(false), spatial_radius_(0), + color_radius_(0) { } @@ -93,20 +94,20 @@ bool CMVisionColorBlobFinder::initialize(ros::NodeHandle &node_handle) image_subscriber_ = node_handle.subscribe("image", 1, &CMVisionColorBlobFinder::imageCB, this); // Advertise our blobs - blob_publisher_ = node_handle.advertise ("blobs", 1); + blob_publisher_ = node_handle.advertise("blobs", 1); if (debug_on_) { - cvNamedWindow("Image"); + cv::namedWindow("Image"); } return true; } -void CMVisionColorBlobFinder::imageCB(const sensor_msgs::ImageConstPtr& msg) +void CMVisionColorBlobFinder::imageCB(const sensor_msgs::ImageConstPtr &msg) { - IplImage cvImageRef, *cvImage, *debug_img_; - CvSize size; + cv::Mat debug_img_; + cv::Size size; const sensor_msgs::Image img = *msg; @@ -117,11 +118,11 @@ void CMVisionColorBlobFinder::imageCB(const sensor_msgs::ImageConstPtr& msg) ros::WallTime startt = ros::WallTime::now(); // Get the image as and RGB image - cv_bridge::CvImagePtr image = cv_bridge::toCvCopy(msg, "bgr8"); - cvImageRef = IplImage(image->image); - cvImage = &cvImageRef; - - size = cvGetSize(cvImage); + cv_bridge::CvImagePtr image = cv_bridge::toCvCopy(msg, "rgb8"); + cv::Mat cvImage(image->image); + // cvImage = &cvImageRef; + + size = cvImage.size(); // this shouldn't change often if ((size.width != width_) || (size.height != height_)) @@ -144,7 +145,7 @@ void CMVisionColorBlobFinder::imageCB(const sensor_msgs::ImageConstPtr& msg) else { ROS_ERROR("No color file given. Use the \"mColorFile\" " - "option in the configuration file."); + "option in the configuration file."); return; } @@ -153,41 +154,39 @@ void CMVisionColorBlobFinder::imageCB(const sensor_msgs::ImageConstPtr& msg) blob_message_.image_width = size.width; blob_message_.image_height = size.height; - } // Smooth the image, if turned on if (mean_shift_on_) { - cvPyrMeanShiftFiltering(cvImage, cvImage, spatial_radius_, color_radius_); + cv::pyrMeanShiftFiltering(cvImage, cvImage, spatial_radius_, color_radius_); } - if (debug_on_) { - debug_img_ = cvCloneImage(cvImage); + if (debug_on_) + { + cvImage.copyTo(debug_img_); + // Convert to BGR because cv works in BGR + cv::cvtColor(debug_img_, debug_img_, cv::COLOR_RGB2BGR); } - cvCvtColor(cvImage, cvImage, CV_BGR2Lab); - + cv::cvtColor(cvImage, cvImage, cv::COLOR_RGB2Lab); // Find the color blobs - if (!vision_->processFrame(reinterpret_cast (cvImage->imageData))) + if (!vision_->processFrame(reinterpret_cast(cvImage.data))) { ROS_ERROR("Frame error."); return; } - //image_bridge_.fromImage(*msg, "bgr8"); - //cvImage = image_bridge_.toIpl(); - // Get all the blobs blob_count_ = 0; for (int ch = 0; ch < CMV_MAX_COLORS; ++ch) { // Get the descriptive color rgb c = vision_->getColorVisual(ch); - char* name = vision_->getColorName(ch); + char *name = vision_->getColorName(ch); // Grab the regions for this color - CMVision::region* r = NULL; + CMVision::region *r = NULL; for (r = vision_->getRegions(ch); r != NULL; r = r->next) { @@ -199,7 +198,7 @@ void CMVisionColorBlobFinder::imageCB(const sensor_msgs::ImageConstPtr& msg) if (debug_on_) { - cvRectangle(debug_img_, cvPoint(r->x1, r->y1), cvPoint(r->x2, r->y2), CV_RGB(c.red, c.green, c.blue)); + cv::rectangle(debug_img_, cvPoint(r->x1, r->y1), cvPoint(r->x2, r->y2), CV_RGB(c.red, c.green, c.blue)); } blob_message_.blobs[blob_count_].name = name; @@ -218,16 +217,13 @@ void CMVisionColorBlobFinder::imageCB(const sensor_msgs::ImageConstPtr& msg) } } - if (blob_count_ < blob_message_.blobs.size()) - blob_message_.blobs.resize(blob_count_); + if (blob_count_ < blob_message_.blobs.size()) + blob_message_.blobs.resize(blob_count_); if (debug_on_) { - cvShowImage("Image", debug_img_); - - cvWaitKey(3); - - cvReleaseImage(&debug_img_); + cv::imshow("Image", debug_img_); + cv::waitKey(3); } blob_message_.blob_count = blob_count_; diff --git a/src/color_gui.cpp b/src/color_gui.cpp index c6a1200..ad8b8cd 100644 --- a/src/color_gui.cpp +++ b/src/color_gui.cpp @@ -32,14 +32,14 @@ #include #include -#include "color_gui.h" -#include "conversions.h" +#include "cmvision/color_gui.h" +#include "cmvision/conversions.h" bool ColorGuiApp::OnInit() { - char **local_argv = new char*[ argc ]; - for (int i =0; i < argc; i++) - local_argv[i] = strdup( wxString( argv[i] ).mb_str() ); + char **local_argv = new char *[argc]; + for (int i = 0; i < argc; i++) + local_argv[i] = strdup(wxString(argv[i]).mb_str()); ros::init(argc, local_argv, "cmvision"); ros::NodeHandle node_handle; @@ -52,28 +52,25 @@ bool ColorGuiApp::OnInit() SetTopWindow(frame_); update_timer_ = new wxTimer(this); - update_timer_->Start( 33 ); + update_timer_->Start(33); - Connect( update_timer_->GetId(), wxEVT_TIMER, wxTimerEventHandler( ColorGuiApp::OnUpdate ), NULL, this); + Connect(update_timer_->GetId(), wxEVT_TIMER, wxTimerEventHandler(ColorGuiApp::OnUpdate), NULL, this); return true; } -void ColorGuiApp::OnUpdate( wxTimerEvent &event ) +void ColorGuiApp::OnUpdate(wxTimerEvent &event) { ros::spinOnce(); } -void ColorGuiApp::imageCB(const sensor_msgs::ImageConstPtr& msg) +void ColorGuiApp::imageCB(const sensor_msgs::ImageConstPtr &msg) { - frame_->DrawImage( msg ); + frame_->DrawImage(msg); } - - - ColorGuiFrame::ColorGuiFrame() - : wxFrame(NULL, -1, wxT("Color Gui"), wxDefaultPosition, wxSize(800,600), wxDEFAULT_FRAME_STYLE) + : wxFrame(NULL, -1, wxT("Color Gui"), wxDefaultPosition, wxSize(800, 600), wxDEFAULT_FRAME_STYLE) { wxInitAllImageHandlers(); @@ -87,39 +84,39 @@ ColorGuiFrame::ColorGuiFrame() item = file_menu->Append(wxID_EXIT, wxT("&Quit\tCtrl-Q")); Connect(item->GetId(), wxEVT_COMMAND_MENU_SELECTED, wxCommandEventHandler(ColorGuiFrame::OnQuit), NULL, this); - menuBar->Append( file_menu, _("&File") ); - - SetMenuBar( menuBar ); + menuBar->Append(file_menu, _("&File")); + + SetMenuBar(menuBar); CreateStatusBar(); - SetStatusText( _("Click on the image to select colors. Use scroll wheel to zoom.") ); + SetStatusText(_("Click on the image to select colors. Use scroll wheel to zoom.")); - image_panel_ = new wxPanel(this, wxID_ANY, wxPoint(0,0), wxSize(640,480)); + image_panel_ = new wxPanel(this, wxID_ANY, wxPoint(0, 0), wxSize(640, 480)); wxStaticText *rgblabel = new wxStaticText(this, -1, wxT("RGB:")); - rgbText_ = new wxTextCtrl(this,-1,wxT("")); + rgbText_ = new wxTextCtrl(this, -1, wxT("")); wxStaticText *abLabel = new wxStaticText(this, -1, wxT("AB:")); - abText_ = new wxTextCtrl(this,-1,wxT("")); + abText_ = new wxTextCtrl(this, -1, wxT("")); wxBoxSizer *hsizer1 = new wxBoxSizer(wxHORIZONTAL); wxBoxSizer *hsizer2 = new wxBoxSizer(wxHORIZONTAL); wxBoxSizer *vsizer = new wxBoxSizer(wxVERTICAL); - hsizer2->Add( rgblabel, 0, wxALIGN_CENTER_VERTICAL| wxLEFT, 10); - hsizer2->Add( rgbText_, 1, wxALIGN_CENTER_VERTICAL | wxLEFT, 2); + hsizer2->Add(rgblabel, 0, wxALIGN_CENTER_VERTICAL | wxLEFT, 10); + hsizer2->Add(rgbText_, 1, wxALIGN_CENTER_VERTICAL | wxLEFT, 2); - hsizer2->Add( abLabel, 0, wxALIGN_CENTER_VERTICAL | wxLEFT, 10); - hsizer2->Add( abText_, 1, wxALIGN_CENTER_VERTICAL | wxLEFT, 2); - hsizer2->Add(50,1,0); + hsizer2->Add(abLabel, 0, wxALIGN_CENTER_VERTICAL | wxLEFT, 10); + hsizer2->Add(abText_, 1, wxALIGN_CENTER_VERTICAL | wxLEFT, 2); + hsizer2->Add(50, 1, 0); vsizer->Add(image_panel_, 0, wxEXPAND); - vsizer->Add(20,2,0); - vsizer->Add(hsizer2, 0, wxALIGN_LEFT | wxEXPAND ); + vsizer->Add(20, 2, 0); + vsizer->Add(hsizer2, 0, wxALIGN_LEFT | wxEXPAND); this->SetSizer(vsizer); - width_ = 0; - height_ = 0; + width_ = 0; + height_ = 0; scale_ = 1.0; width_ = 0; @@ -133,7 +130,6 @@ ColorGuiFrame::ColorGuiFrame() image_panel_->Connect(wxEVT_LEFT_UP, wxMouseEventHandler(ColorGuiFrame::OnClick), NULL, this); Connect(wxEVT_MOUSEWHEEL, wxMouseEventHandler(ColorGuiFrame::OnMouseWheel)); - } void ColorGuiFrame::OnQuit(wxCommandEvent &event) @@ -141,19 +137,18 @@ void ColorGuiFrame::OnQuit(wxCommandEvent &event) Close(true); } -void ColorGuiFrame::DrawImage(const sensor_msgs::ImageConstPtr& msg) +void ColorGuiFrame::DrawImage(const sensor_msgs::ImageConstPtr &msg) { - IplImage cvImageRef, *cvImage; - CvSize size; + cv::Size size; const sensor_msgs::Image img = *msg; // Get the image as and RGB image cv_bridge::CvImagePtr image_ptr = cv_bridge::toCvCopy(msg, "rgb8"); - cvImageRef = IplImage(image_ptr->image); - cvImage = &cvImageRef; - size = cvGetSize(cvImage); + cv::Mat cvImage(image_ptr->image); + + size = cvImage.size(); if (width_ != size.width || height_ != size.height) { @@ -176,25 +171,23 @@ void ColorGuiFrame::DrawImage(const sensor_msgs::ImageConstPtr& msg) width_ = size.width; height_ = size.height; - memcpy(rgb_image_, cvImage->imageData, width_ * height_ * 3); - + std::memcpy(rgb_image_, cvImage.data, width_ * height_ * 3); // Convert image to LAB color space - cvCvtColor(cvImage, cvImage, CV_RGB2Lab); - - memcpy(lab_image_, cvImage->imageData, width_ * height_ * 3); + cv::cvtColor(cvImage, cvImage, cv::COLOR_RGB2Lab); + std::memcpy(lab_image_, cvImage.data, width_ * height_ * 3); // Find the color blobs - if (!vision_->processFrame(reinterpret_cast (cvImage->imageData))) + if (!vision_->processFrame(reinterpret_cast(cvImage.data))) { - ROS_ERROR("Frame error."); - return; + ROS_ERROR("Frame error."); + return; } - int xsrc = (scale_pos_x_*scale_) - scale_pos_x_; - int ysrc = (scale_pos_y_*scale_) - scale_pos_y_; + int xsrc = (scale_pos_x_ * scale_) - scale_pos_x_; + int ysrc = (scale_pos_y_ * scale_) - scale_pos_y_; wxImage image(width_, height_, rgb_image_, true); - image.Rescale(width_*scale_,height_*scale_); + image.Rescale(width_ * scale_, height_ * scale_); wxBitmap bitmap(image); @@ -205,40 +198,39 @@ void ColorGuiFrame::DrawImage(const sensor_msgs::ImageConstPtr& msg) if (xsrc < 0 || ysrc < 0) dc.Clear(); - dc.Blit(0,0, 640, 480, &memDC, xsrc, ysrc); + dc.Blit(0, 0, 640, 480, &memDC, xsrc, ysrc); - // Get all the blobs - for (int ch = 0; ch < CMV_MAX_COLORS; ++ch) - { - // Get the descriptive color - rgb c = vision_->getColorVisual(ch); + // Get all the blobs + for (int ch = 0; ch < CMV_MAX_COLORS; ++ch) + { + // Get the descriptive color + rgb c = vision_->getColorVisual(ch); - // Grab the regions for this color - CMVision::region* r = NULL; + // Grab the regions for this color + CMVision::region *r = NULL; - for (r = vision_->getRegions(ch); r != NULL; r = r->next) - { + for (r = vision_->getRegions(ch); r != NULL; r = r->next) + { dc.SetBrush(*wxTRANSPARENT_BRUSH); - int x1 = (r->x1*scale_) - xsrc; - int y1 = (r->y1*scale_) - ysrc; - int x2 = (r->x2*scale_) - xsrc; - int y2 = (r->y2*scale_) - ysrc; + int x1 = (r->x1 * scale_) - xsrc; + int y1 = (r->y1 * scale_) - ysrc; + int x2 = (r->x2 * scale_) - xsrc; + int y2 = (r->y2 * scale_) - ysrc; int w = x2 - x1; int h = y2 - y1; dc.DrawRectangle(x1, y1, w, h); - } - } + } + } int x, y; GetPosition(&x, &y); -// Setting size is commented out because it breaks the gui: -// Text boxes become invisible. -// SetSize(x,y, width_, height_+80); + // Setting size is commented out because it breaks the gui: + // Text boxes become invisible. + // SetSize(x,y, width_, height_+80); } - void ColorGuiFrame::OnReset(wxCommandEvent &event) { vision_->setThreshold(0, 0, 0, 0, 0); @@ -250,22 +242,21 @@ void ColorGuiFrame::OnClick(wxMouseEvent &event) { int r, g, b, l, a, b2; - int px = (event.m_x/scale_) + ((scale_pos_x_*scale_) - scale_pos_x_)/scale_; - int py = (event.m_y/scale_) + ((scale_pos_y_*scale_) - scale_pos_y_)/scale_; + int px = (event.m_x / scale_) + ((scale_pos_x_ * scale_) - scale_pos_x_) / scale_; + int py = (event.m_y / scale_) + ((scale_pos_y_ * scale_) - scale_pos_y_) / scale_; r = rgb_image_[py * (width_ * 3) + px * 3 + 0]; g = rgb_image_[py * (width_ * 3) + px * 3 + 1]; b = rgb_image_[py * (width_ * 3) + px * 3 + 2]; std::ostringstream stream1; - stream1 << "(" << r << ", " << g << ", " << b << ")"; + stream1 << "(" << r << ", " << g << ", " << b << ")"; rgbText_->SetValue(wxString::FromAscii(stream1.str().c_str())); l = lab_image_[py * (width_ * 3) + px * 3 + 0]; a = lab_image_[py * (width_ * 3) + px * 3 + 1]; b2 = lab_image_[py * (width_ * 3) + px * 3 + 2]; - int l_low, l_high, a_low, a_high, b_low, b_high; vision_->getThreshold(0, a_low, a_high, b_low, b_high); diff --git a/src/conversions.c b/src/conversions.c index e91db51..4d919d1 100644 --- a/src/conversions.c +++ b/src/conversions.c @@ -18,7 +18,7 @@ */ #include -#include "conversions.h" +#include "cmvision/conversions.h" #if !defined (WIN32) // This doesn't need to be extern on Windows (why does it need to be elsewhere?) diff --git a/src/main.cpp b/src/main.cpp index e1671ee..573cc58 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -21,7 +21,7 @@ */ #include -#include "cmvision_color_blob_finder.h" +#include "cmvision/cmvision_color_blob_finder.h" int main( int argc, char **argv) { diff --git a/static/demo.gif b/static/demo.gif new file mode 100644 index 0000000..4213d4c Binary files /dev/null and b/static/demo.gif differ