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main.cpp
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main.cpp
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/*
* Copyright (C) 2016 iCub Facility - Istituto Italiano di Tecnologia
* Author: Vadim Tikhanoff
* email: [email protected]
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* http://www.robotcub.org/icub/license/gpl.txt
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/
#include <yarp/os/BufferedPort.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Network.h>
#include <yarp/os/Log.h>
#include <yarp/os/Time.h>
#include <yarp/os/LogStream.h>
#include <yarp/os/Semaphore.h>
#include <yarp/sig/Image.h>
#include <yarp/os/RpcClient.h>
#include <opencv2/core/core.hpp>
#include <opencv2/opencv.hpp>
#include "closestBlob_IDL.h"
/********************************************************/
class Processing : public yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelMono> >
{
std::string moduleName;
yarp::os::RpcServer handlerPort;
yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > inPort;
yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > outPort;
yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > cropOutPort;
yarp::os::BufferedPort<yarp::os::Bottle> targetPort;
yarp::os::RpcClient rpc;
public:
/********************************************************/
Processing( const std::string &moduleName )
{
this->moduleName = moduleName;
}
/********************************************************/
~Processing()
{
};
/********************************************************/
bool open(){
this->useCallback();
BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelMono> >::open( "/" + moduleName + "/disparity:i" );
inPort.open("/"+ moduleName + "/image:i");
outPort.open("/"+ moduleName + "/image:o");
cropOutPort.open("/" + moduleName + "/crop:o");
targetPort.open("/"+ moduleName + "/target:o");
return true;
}
/********************************************************/
void close()
{
inPort.close();
outPort.close();
targetPort.close();
cropOutPort.close();
BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelMono> >::close();
}
/********************************************************/
void interrupt()
{
BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelMono> >::interrupt();
}
/********************************************************/
void onRead( yarp::sig::ImageOf<yarp::sig::PixelMono> &dispImage )
{
yarp::sig::ImageOf<yarp::sig::PixelRgb> &outImage = outPort.prepare();
yarp::sig::ImageOf<yarp::sig::PixelRgb> &cropOutImage = cropOutPort.prepare();
yarp::os::Bottle &outTargets = targetPort.prepare();
yarp::sig::ImageOf<yarp::sig::PixelRgb> *inImage = inPort.read();
outImage.resize(dispImage.width(), dispImage.height());
cropOutImage.resize(dispImage.width(), dispImage.height());
outImage.zero();
cropOutImage.zero();
cv::Mat inColour_cv = cv::cvarrToMat((IplImage *)inImage->getIplImage()); // prepare the image ports and targets
cv::Mat inDisp_cv = cv::cvarrToMat((IplImage *)dispImage.getIplImage());
cv::Mat disp = inDisp_cv.clone();
//FILL IN THE CODE
// Apply image processing techniques on the disparity image to smooth things out
// Apply some threshold on the image to remove background:
// have a look at cv::threshold function
// Find the max value and its position
//....
//Find the contour of the closest objects with moments and mass center
//
//....
// optional hint: you could use pointPolygonTest and the previous maxvalue location to compare with all contours found and get the actual brightest one
//....
// Use the result of pointPolygonTest or your own technique as the closest contour to:
// 1 - draw it on the disparity image
// 2 - create a cropped image containing the rgb roi
// 3 - fill in a yarp bottle with the bounding box
//be aware that the expected Bottle should be a list containing:
// (tl.x tl.y br.x br.y)
//where tl is top left and br - bottom right
cvtColor(disp, disp, CV_GRAY2RGB);
outTargets.clear();
if (outTargets.size() >0 )
targetPort.write();
IplImage out = disp;
outImage.resize(out.width, out.height);
cvCopy( &out, (IplImage *) outImage.getIplImage());
outPort.write();
IplImage crop = inColour_cv;
cropOutImage.resize(crop.width, crop.height);
cvCopy( &crop, (IplImage *) cropOutImage.getIplImage());
cropOutPort.write();
}
};
/********************************************************/
class Module : public yarp::os::RFModule, public closestBlob_IDL
{
yarp::os::ResourceFinder *rf;
yarp::os::RpcServer rpcPort;
Processing *processing;
friend class processing;
bool closing;
/********************************************************/
bool attach(yarp::os::RpcServer &source)
{
return this->yarp().attachAsServer(source);
}
public:
/********************************************************/
bool configure(yarp::os::ResourceFinder &rf)
{
this->rf=&rf;
std::string moduleName = rf.check("name", yarp::os::Value("closest-blob"), "module name (string)").asString();
setName(moduleName.c_str());
rpcPort.open(("/"+getName("/rpc")).c_str());
closing = false;
processing = new Processing( moduleName );
/* now start the thread to do the work */
processing->open();
attach(rpcPort);
return true;
}
/**********************************************************/
bool close()
{
processing->interrupt();
processing->close();
delete processing;
return true;
}
/**********************************************************/
bool quit(){
closing = true;
return true;
}
/********************************************************/
double getPeriod()
{
return 0.1;
}
/********************************************************/
bool updateModule()
{
return !closing;
}
};
/********************************************************/
int main(int argc, char *argv[])
{
yarp::os::Network::init();
yarp::os::Network yarp;
if (!yarp.checkNetwork())
{
yError("YARP server not available!");
return 1;
}
Module module;
yarp::os::ResourceFinder rf;
rf.setVerbose();
rf.configure(argc,argv);
return module.runModule(rf);
}