ros_hydro_Opencv_with_Kinect_camshiftdemo.cpp

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kinect
cd 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