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process.cpp
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process.cpp
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#include <rclcpp/rclcpp.hpp>
#include <rclcpp/node.hpp>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/ximgproc.hpp>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <turtlebot3_tiles/ransac_lines.h>
#include <turtlebot3_tiles/pnp.h>
#include <turtlebot3_tiles/mbt.h>
using namespace std::chrono_literals;
constexpr auto useMBT{true};
inline auto createKernel(int size)
{
return cv::getStructuringElement(cv::MORPH_CROSS, {2*size+1, 2*size+1}, {size,size});
}
class ProcessingNode : public rclcpp::Node
{
public:
ProcessingNode() : Node("tile_detector")
{
im_sub = image_transport::create_subscription(this, "/image_raw", [&](const sensor_msgs::msg::Image::ConstSharedPtr &msg)
{img = cv_bridge::toCvCopy(msg, "bgr8")->image;}, "compressed", rmw_qos_profile_sensor_data);
if(useMBT)
{
tracker = std::make_unique<MBT>();
process_timer = create_wall_timer(500ms, [&](){processMBT();});
static auto pose_sub = create_subscription<geometry_msgs::msg::Pose>("pose", 1, [&](const geometry_msgs::msg::Pose &msg)
{
tracker->reset(msg);
});
process_timer = create_wall_timer(500ms, [&](){processMBT();});
}
else
{
process_timer = create_wall_timer(500ms, [&](){process();});
cv::namedWindow("Edges", cv::WINDOW_AUTOSIZE );
cv::createTrackbar("blurr: ","Edges", &blurr, 50);
cv::createTrackbar("min: ","Edges", &min_thr, 600);
cv::createTrackbar("max: ","Edges", &max_thr, 600);
cv::namedWindow("Skeleton", cv::WINDOW_AUTOSIZE );
cv::createTrackbar("dilate: ","Skeleton", &dilate, 10);
cv::namedWindow("Lines", cv::WINDOW_AUTOSIZE );
cv::createTrackbar("thr: ","Lines", &hough_thr, 1000);
}
}
void process()
{
cv::waitKey(1);
if(img.cols * img.rows == 0)
return;
//std::cout << " ---- new image -----\n";
static cv::Mat gray;
cv::cvtColor(img, gray, cv::COLOR_BGR2GRAY);
//tracker.track(gray);
//return;
if(!Line::yOffset)
{
bottom.y = bottom.height = Line::yOffset = img.rows/2;
bottom.x = 0;
bottom.width = img.cols;
}
auto tiles = gray(bottom);
static cv::Mat filtered;
cv::GaussianBlur(tiles, filtered, {5,5}, blurr);
static cv::Mat edges;
cv::Canny(filtered, edges, min_thr, max_thr, 5);
// get skeleton
static cv::Mat dilated, eroded;
cv::dilate(edges, dilated, createKernel(dilate));
cv::ximgproc::thinning(dilated, eroded, cv::ximgproc::THINNING_GUOHALL);
cv::imshow("Skeleton", eroded);
cv::imshow("Edges", edges);
static std::vector<Line> lines;
static cv::Mat im_lines;
im_lines = img.clone();
lines = detectHough(eroded, hough_thr);
//lines = detectRansac(eroded, hough_thr);
removeSimilar(lines);
if(lines.size() < 4)
return;
auto mid = Line::partition(lines);
if(mid == lines.end())
return;
Line::sort(lines.begin(), mid);
Line::sort(mid, lines.end());
//std::sort(lines.begin(), mid, Line::compareOffset);
//std::sort(mid, lines.end(), Line::compareOffset);
const Lines vert{lines.begin(), std::min(mid, lines.begin()+4)};
const Lines hor{mid, std::min(mid+4, lines.end())};
displayLines(vert, im_lines, true);
displayLines(hor, im_lines, false);
if(vert.size() && hor.size())
{
uint x{0};
for(auto &h: hor)
{
uint y{0};
for(auto &v: vert)
{
//cv::circle(im_lines, , 5, cv::Scalar(0,0,r), -1);
if(const auto p{h.intersect(v)}; p.has_value())
cv::putText(im_lines, "(" + std::to_string(x) + "," + std::to_string(y) + ")",
p.value(), 1, 1, {}, 2, cv::LINE_AA);
y++;
}
x++;
}
}
const auto pose = cam.computePose(hor, vert);
if(pose.has_value())
{
cam.showPose(im_lines, pose.value());
std::cout << "T: " << pose->inverse().T.t() << std::endl;
}
cv::imshow("Lines", im_lines);
}
void processMBT()
{
if(img.cols * img.rows == 0)
return;
tracker->track(img);
}
private:
Camera cam;
int min_thr{400};
int max_thr{600};
int blurr{10};
int hough_thr{180};
int dilate{2};
cv::Rect bottom;
std::unique_ptr<MBT> tracker;
image_transport::Subscriber im_sub;
cv::Mat img;
rclcpp::TimerBase::SharedPtr process_timer;
static void displayLines(const Lines &lines, cv::Mat &im, bool b)
{
if(lines.empty())
return;
auto step{255/lines.size()};
uint r{0};
Line::detail(lines.begin(), lines.end(), b ? "vert" : "hor");
for(auto &line: lines)
{
if(b)
line.display(im, cv::Scalar(255, 0, r));
else
line.display(im, cv::Scalar(0, 255, r));
r = (r + step) % 255;
}
std::cout << std::endl;
}
};
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<ProcessingNode>());
rclcpp::shutdown();
}