ros下的camshiftdemo.cpp
//Includes all the headers necessary to use the most common public pieces of the ROS system.
#include <ros/ros.h>
//Use image_transport for publishing and subscribing to images in ROS
#include <image_transport/image_transport.h>
//Use cv_bridge to convert between ROS and OpenCV Image formats
#include <cv_bridge/cv_bridge.h>
//Include some useful constants for image encoding. Refer to: http://www.ros.org/doc/api/sensor_msgs/html/namespacesensor__msgs_1_1image__encodings.html for more info.
#include <sensor_msgs/image_encodings.h>
//Include headers for OpenCV Image processing
#include <opencv2/imgproc/imgproc.hpp>
//Include headers for OpenCV GUI handling
#include <opencv2/highgui/highgui.hpp>
#include "opencv2/video/tracking.hpp"
#include <geometry_msgs/Twist.h>
#include <std_msgs/Float32.h>
#include <std_msgs/UInt8.h>
using namespace cv;
using namespace std;
//Store all constants for image encodings in the enc namespace to be used later.
namespace enc = sensor_msgs::image_encodings;
//Use method of ImageTransport to create image publisher
//image_transport::Publisher pub;
bool backprojMode = false;
bool selectObject = false;
int trackObject = 0;
bool showHist = true;
static Point origin;
static Rect selection;
int vmin = 30, vmax = 256, smin = 60;
Mat image;
static int imgWidth, imgHeight;
static int initDestArea = 1; //Initialized to 1 to avoid DIV by 0 errors
//static int prevDestArea = 0;
//static float destAreaDot = 0;
static ros::Publisher robotAngleVar;
/* State is published according to the following enum
* 0: Waiting for destination
* 1: Destination tracking enabled
* 2: Destination Lost
* 3..255: TBD
*/
static ros::Publisher imagePrStatePub;
static ros::Publisher destAreaPub;
void camShift(Mat inImg);
static void onMouse( int event, int x, int y, int, void* )
{
ROS_INFO("Mouse detected");
if( selectObject )
{
selection.x = MIN(x, origin.x);
selection.y = MIN(y, origin.y);
selection.width = std::abs(x - origin.x);
selection.height = std::abs(y - origin.y);
selection &= Rect(0, 0, image.cols, image.rows);
initDestArea = selection.area();//duo
}
switch( event )
{
case CV_EVENT_LBUTTONDOWN:
origin = Point(x,y);
selection = Rect(x,y,0,0);
selectObject = true;
break;
case CV_EVENT_LBUTTONUP:
selectObject = false;
if( selection.width > 0 && selection.height > 0 )
trackObject = -1;
break;
}
}
//This function is called everytime a new image_info message is published
void camInfoCallback(const sensor_msgs::CameraInfo & camInfoMsg)
{
//Store the image width for calculation of angle
imgWidth = camInfoMsg.width;
imgHeight = camInfoMsg.height;
}
/*void destCoordCallback(const sensor_msgs::RegionOfInterest& destROI)
{
//Copy the ROI to the local buffer
selection.x = destROI.x_offset;
selection.y = destROI.y_offset;
selection.height = destROI.height;
selection.width = destROI.width;
trackObject = -1;
initDestArea = selection.area();
}*/
//This function is called everytime a new image is published
void imageCallback(const sensor_msgs::ImageConstPtr& original_image)
{
//Convert from the ROS image message to a CvImage suitable for working with OpenCV for processing
cv_bridge::CvImagePtr cv_ptr;
try
{
//Always copy, returning a mutable CvImage
//OpenCV expects color images to use BGR channel order.
cv_ptr = cv_bridge::toCvCopy(original_image, enc::BGR8);
}
catch (cv_bridge::Exception& e)
{
//if there is an error during conversion, display it
ROS_ERROR("tutorialROSOpenCV::main.cpp::cv_bridge exception: %s", e.what());
return;
}
camShift(cv_ptr->image);
}
void trackArea(Rect window)
{
//TBD
//Code should track the area of the target. If the area grows very fast then most probably the destination has a shift
//And it has lost the destination
std_msgs::Float32 destArea;
//destArea.data = ((float)curDestArea)/initDestArea;
destArea.data = (float)window.area()/(imgHeight*imgWidth);
destAreaPub.publish(destArea);
}
void calcAngle(Point2f destCentre)
{
std_msgs::Float32 normAngle;
//If we have started tracking the object
if(trackObject != 0)
{
normAngle.data = (destCentre.x - ((float)imgWidth/2))/((float)imgWidth/2);
robotAngleVar.publish(normAngle);
}
}
void camShift(Mat inImg)
{
static Rect trackWindow;
static int hsize = 16;
static float hranges[] = {0,180};
static const float* phranges = hranges;
static Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj;
static bool paused = false;
RotatedRect trackBox;
std_msgs::UInt8 state;
//If the image processing is not paused
if( !paused )
{
//cap >> frame;
if( inImg.empty() )
{
ROS_INFO("Camera image empty");
return;//break;
}
}
//Use the input image as the reference
//Only a shallow copy, so relatively fast
image = inImg;
if(!paused)
{
//Convert the colour space to HSV
cvtColor(image, hsv, CV_BGR2HSV);
//If the destination coordinates have been received, then start the tracking
//trackObject is set when the destination coordinates have been received
if( trackObject )
{
int _vmin = vmin, _vmax = vmax;
inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax)),
Scalar(180, 256, MAX(_vmin, _vmax)), mask);
int ch[] = {0, 0};
hue.create(hsv.size(), hsv.depth());
mixChannels(&hsv, 1, &hue, 1, ch, 1);
//Do the following steps only for the first time
if( trackObject < 0 )
{
//Publish that we have started tracking
std_msgs::UInt8 state;//
state.data = 1;//
imagePrStatePub.publish(state);//
//Set the Region of interest and the mask for it
Mat roi(hue, selection), maskroi(mask, selection);
//Calculate the histogram of this
calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
normalize(hist, hist, 0, 255, CV_MINMAX);
trackWindow = selection;
trackObject = 1;
histimg = Scalar::all(0);
int binW = histimg.cols / hsize;
Mat buf(1, hsize, CV_8UC3);
for( int i = 0; i < hsize; i++ )
buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180./hsize), 255, 255);
cvtColor(buf, buf, CV_HSV2BGR);
for( int i = 0; i < hsize; i++ )
{
int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows/255);
rectangle( histimg, Point(i*binW,histimg.rows),
Point((i+1)*binW,histimg.rows - val),
Scalar(buf.at<Vec3b>(i)), -1, 8 );
}
}
calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
backproj &= mask;
trackBox = CamShift(backproj, trackWindow,
TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));
if( trackWindow.area() <= 1 )
{
//Notify that the destination has been lost
std_msgs::UInt8 state;//
state.data = 2;//
imagePrStatePub.publish(state);//
ROS_INFO("*********DESTINATION LOST in CAMSHIFT************");
ROS_INFO("track height %d width %d", trackWindow.height, trackWindow.width);
trackObject = 0; // //Disable tracking to avoid termination of node due to negative heights TBD
int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
trackWindow = Rect(trackWindow.x - r, trackWindow.y - r,
trackWindow.x + r, trackWindow.y + r) &
Rect(0, 0, cols, rows);
}
if( backprojMode )
cvtColor( backproj, image, CV_GRAY2BGR );
ellipse( image, trackBox, Scalar(0,0,255), 3, CV_AA );
}
}
else if( trackObject < 0 )
{
//If a new destination has been selected stop pausing
paused = false;
}
//Code to display an inverted image of the selected region
//Remove this in the fall validation expt TBD
if( selectObject && selection.width > 0 && selection.height > 0 )
{
Mat roi(image, selection);
bitwise_not(roi, roi);
}
imshow( "CamShift Demo", image );
imshow( "Histogram", histimg );
char c = (char)waitKey(1);
if( c == 27 )
ROS_INFO("Exit boss");//break;
switch(c)
{
case 'b':
backprojMode = !backprojMode; //黑白图像
break;
case 'c': //刷新,从新取图
trackObject = 0;
histimg = Scalar::all(0);
break;
case 'h': //显示直方图
showHist = !showHist;
if( !showHist )
destroyWindow( "Histogram" );
else
namedWindow( "Histogram", 1 );
break;
case 'p': //暂停检测或继续
paused = !paused;
break;
default:
break;
}
setMouseCallback( "CamShift Demo", onMouse, 0 );//
createTrackbar( "Vmin", "CamShift Demo", &vmin, 256, 0 );
createTrackbar( "Vmax", "CamShift Demo", &vmax, 256, 0 );
createTrackbar( "Smin", "CamShift Demo", &smin, 256, 0 );
//Find the area of the destination and publish it
trackArea(trackWindow);
//Find the angle of the destination wrt to the robot and publish that
calcAngle(trackBox.center);
}
/**
* This is ROS node to track the destination image
*/
int main(int argc, char **argv)
{
/**
* The ros::init() function needs to see argc and argv so that it can perform
* any ROS arguments and name remapping that were provided at the command line. For programmatic
* remappings you can use a different version of init() which takes remappings
* directly, but for most command-line programs, passing argc and argv is the easiest
* way to do it. The third argument to init() is the name of the node. Node names must be unique in a running system.
* The name used here must be a base name, ie. it cannot have a / in it.
* You must call one of the versions of ros::init() before using any other
* part of the ROS system.
*/
ros::init(argc, argv, "image_processor");
ROS_INFO("-----------------");
/**
* NodeHandle is the main access point to communications with the ROS system.
* The first NodeHandle constructed will fully initialize this node, and the last
* NodeHandle destructed will close down the node.
*/
ros::NodeHandle nh;
//Create an ImageTransport instance, initializing it with our NodeHandle.
image_transport::ImageTransport it(nh);
std_msgs::UInt8 state;
//OpenCV HighGUI call to create a display window on start-up.
namedWindow( "Histogram", 0 );
namedWindow( "CamShift Demo", 0 );
/**
* Subscribe to the "camera/image_raw" base topic. The actual ROS topic subscribed to depends on which transport is used.
* In the default case, "raw" transport, the topic is in fact "camera/image_raw" with type sensor_msgs/Image. ROS will call
* the "imageCallback" function whenever a new image arrives. The 2nd argument is the queue size.
* subscribe() returns an image_transport::Subscriber object, that you must hold on to until you want to unsubscribe.
* When the Subscriber object is destructed, it will automaticaInfoCallbacklly unsubscribe from the "camera/image_raw" base topic.
*/
image_transport::Subscriber sub = it.subscribe("camera/rgb/image_raw", 1, imageCallback); //style="background-color: rgb(255, 255, 0);"//Kinect Topic</span>
ros::Subscriber camInfo = nh.subscribe("camera/rgb/camera_info", 1, camInfoCallback);// style="background-color: rgb(255, 255, 0);"//Kinect Topic</span>
// ros::Subscriber destCoord = nh.subscribe("dest_coord", 1, destCoordCallback);
robotAngleVar = nh.advertise<std_msgs::Float32>("robot_angle", 100);
imagePrStatePub = nh.advertise<std_msgs::UInt8>("improc_state", 10);
destAreaPub = nh.advertise<std_msgs::Float32>("dest_area", 10);
state.data = 0;
imagePrStatePub.publish(state);
//OpenCV HighGUI call to destroy a display window on shut-down.
//destroyWindow(WINDOW);
destroyWindow("Histogram");
destroyWindow("CamShift Demo");
/**
* In this application all user callbacks will be called from within the ros::spin() call.
* ros::spin() will not return until the node has been shutdown, either through a call
* to ros::shutdown() or a Ctrl-C.
*/
ros::spin();
//ROS_INFO is the replacement for printf/cout.
ROS_INFO("tutorialROSOpenCV::main.cpp::No error.");
}
与windows下的camshift.cpp对比
#include <opencv2/core/utility.hpp>
#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include <iostream>
#include <ctype.h>
using namespace cv;
using namespace std;
Mat image;
bool backprojMode = false;
bool selectObject = false;
int trackObject = 0;
bool showHist = true;
Point origin;
Rect selection;
int vmin = 10, vmax = 256, smin = 30;
static void onMouse( int event, int x, int y, int, void* )
{
if( selectObject )
{
selection.x = MIN(x, origin.x);
selection.y = MIN(y, origin.y);
selection.width = std::abs(x - origin.x);
selection.height = std::abs(y - origin.y);
selection &= Rect(0, 0, image.cols, image.rows);
}
switch( event )
{
case EVENT_LBUTTONDOWN:
origin = Point(x,y);
selection = Rect(x,y,0,0);
selectObject = true;
break;
case EVENT_LBUTTONUP:
selectObject = false;
if( selection.width > 0 && selection.height > 0 )
trackObject = -1;
break;
}
}
static void help()
{
cout << "\nThis is a demo that shows mean-shift based tracking\n"
"You select a color objects such as your face and it tracks it.\n"
"This reads from video camera (0 by default, or the camera number the user enters\n"
"Usage: \n"
" ./camshiftdemo [camera number]\n";
cout << "\n\nHot keys: \n"
"\tESC - quit the program\n"
"\tc - stop the tracking\n"
"\tb - switch to/from backprojection view\n"
"\th - show/hide object histogram\n"
"\tp - pause video\n"
"To initialize tracking, select the object with mouse\n";
}
const char* keys =
{
"{@camera_number| 0 | camera number}"
};
int main( int argc, const char** argv )
{
help();
VideoCapture cap;
Rect trackWindow;
int hsize = 16;
float hranges[] = {0,180};
const float* phranges = hranges;
CommandLineParser parser(argc, argv, keys);
int camNum = parser.get<int>(0);
cap.open(camNum);
if( !cap.isOpened() )
{
help();
cout << "***Could not initialize capturing...***\n";
cout << "Current parameter's value: \n";
parser.printMessage();
return -1;
}
namedWindow( "Histogram", 0 );
namedWindow( "CamShift Demo", 0 );
setMouseCallback( "CamShift Demo", onMouse, 0 );
createTrackbar( "Vmin", "CamShift Demo", &vmin, 256, 0 );
createTrackbar( "Vmax", "CamShift Demo", &vmax, 256, 0 );
createTrackbar( "Smin", "CamShift Demo", &smin, 256, 0 );
Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj;
bool paused = false;
for(;;)
{
if( !paused )
{
cap >> frame;
if( frame.empty() )
break;
}
frame.copyTo(image);
if( !paused )
{
cvtColor(image, hsv, COLOR_BGR2HSV);
if( trackObject )
{
int _vmin = vmin, _vmax = vmax;
inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax)),
Scalar(180, 256, MAX(_vmin, _vmax)), mask);
int ch[] = {0, 0};
hue.create(hsv.size(), hsv.depth());
mixChannels(&hsv, 1, &hue, 1, ch, 1);
if( trackObject < 0 )
{
Mat roi(hue, selection), maskroi(mask, selection);
calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
normalize(hist, hist, 0, 255, NORM_MINMAX);
trackWindow = selection;
trackObject = 1;
histimg = Scalar::all(0);
int binW = histimg.cols / hsize;
Mat buf(1, hsize, CV_8UC3);
for( int i = 0; i < hsize; i++ )
buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180./hsize), 255, 255);
cvtColor(buf, buf, COLOR_HSV2BGR);
for( int i = 0; i < hsize; i++ )
{
int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows/255);
rectangle( histimg, Point(i*binW,histimg.rows),
Point((i+1)*binW,histimg.rows - val),
Scalar(buf.at<Vec3b>(i)), -1, 8 );
}
}
calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
backproj &= mask;
RotatedRect trackBox = CamShift(backproj, trackWindow,
TermCriteria( TermCriteria::EPS | TermCriteria::COUNT, 10, 1 ));
if( trackWindow.area() <= 1 )
{
int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
trackWindow = Rect(trackWindow.x - r, trackWindow.y - r,
trackWindow.x + r, trackWindow.y + r) &
Rect(0, 0, cols, rows);
}
if( backprojMode )
cvtColor( backproj, image, COLOR_GRAY2BGR );
ellipse( image, trackBox, Scalar(0,0,255), 3, LINE_AA );
}
}
else if( trackObject < 0 )
paused = false;
if( selectObject && selection.width > 0 && selection.height > 0 )
{
Mat roi(image, selection);
bitwise_not(roi, roi);
}
imshow( "CamShift Demo", image );
imshow( "Histogram", histimg );
char c = (char)waitKey(10);
if( c == 27 )
break;
switch(c)
{
case 'b':
backprojMode = !backprojMode;
break;
case 'c':
trackObject = 0;
histimg = Scalar::all(0);
break;
case 'h':
showHist = !showHist;
if( !showHist )
destroyWindow( "Histogram" );
else
namedWindow( "Histogram", 1 );
break;
case 'p':
paused = !paused;
break;
default:
;
}
}
return 0;
}
实现方式:
roscore
rosrun openni_camera openni_node可不要
roslaunch openni_launch openni.launch//运行kinectcd catkin_ws//前提是已经建好了程序包,参考:http://blog.csdn.net/hanshuning/article/details/50168847
catkin_make
source devel/setup.bash
rosun 程序包名称 camshiftdemo
用鼠标选中目标物体,就会自动跟踪。
参考:github中ecp