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add calc_flow program to calc optical flow
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,103 @@ | ||
| // | ||
| // JSK calc_flow | ||
| // | ||
| #include <ros/ros.h> | ||
| #include <ros/names.h> | ||
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| #include <sensor_msgs/Image.h> | ||
| #include <sensor_msgs/CameraInfo.h> | ||
| #include <sensor_msgs/fill_image.h> | ||
| #include <image_transport/image_transport.h> | ||
| #include <image_transport/subscriber_filter.h> | ||
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| #include <cv.h> | ||
| #include <cv_bridge/cv_bridge.h> | ||
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| #include <stdlib.h> | ||
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| class calc_flow_node { | ||
| private: | ||
| ros::NodeHandle nh_; | ||
| image_transport::ImageTransport it_; | ||
| image_transport::CameraSubscriber camera_sub; | ||
| ros::Publisher result_pub_; | ||
| std::string namespace_; | ||
| cv::Mat prevImg; | ||
| cv::Mat flow; | ||
| //cv::Mat *nextImg; | ||
| public: | ||
| calc_flow_node () : nh_(), it_(nh_), flow(0, 0, CV_8UC1), prevImg(0, 0, CV_8UC1) { | ||
| //flow = new cv::Mat(0, 0, CV_8UC1); | ||
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| namespace_ = nh_.resolveName("camera"); | ||
| camera_sub = it_.subscribeCamera(namespace_ + "/image", 10, &calc_flow_node::cameraCB, this); | ||
| result_pub_ = nh_.advertise<sensor_msgs::Image> ("flow_image", 1); | ||
| //result_pub_ = nh_.advertise<sensor_msgs::PointCloud2> ("flow_vector", 1); | ||
| } | ||
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| void cameraCB(const sensor_msgs::ImageConstPtr &img, | ||
| const sensor_msgs::CameraInfoConstPtr &info) { | ||
| //IplImage *ipl_ = new IplImage(); | ||
| //ipl_ = cvCreateImage(cvSize(img->width, img->height), IPL_DEPTH_8U, 1); | ||
| //sensor_msgs::CvBridge bridge; | ||
| cv_bridge::CvImagePtr cv_ptr; | ||
| //cvResize(bridge.imgMsgToCv(img, "mono8"), ipl_); | ||
| //IplImage *ipl_ = bridge.imgMsgToCv(img, "mono8"); | ||
| //cv_ptr = cv_bridge::toCvCopy(img, "mono8"); | ||
| cv_ptr = cv_bridge::toCvCopy(img, "mono8"); | ||
| bool prevImg_update_required = false; | ||
| if((flow.cols != (int)img->width) || | ||
| (flow.rows != (int)img->height)) { | ||
| ROS_INFO("make flow"); | ||
| cv_ptr->image.copyTo(flow); | ||
| prevImg_update_required = true; | ||
| } | ||
| if(prevImg_update_required) { | ||
| cv_ptr->image.copyTo(prevImg); | ||
| prevImg_update_required = false; | ||
| ROS_INFO("return"); | ||
| return; | ||
| } | ||
| // | ||
| //ROS_INFO("subscribe image"); | ||
| //prevImg. | ||
| //cv::Mat *nextImg = new cv::Mat(ipl_); | ||
| cv::Mat nextImg(img->height, img->width, CV_8UC1); | ||
| //memcpy(nextImg->data, ipl_->imageData, img->height*img->width); | ||
| cv_ptr->image.copyTo(nextImg); | ||
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| cv::calcOpticalFlowFarneback(prevImg, nextImg, flow, | ||
| 0.5, 3, 15, 3, 5, 1.2, 0 ); | ||
| // 0.5, 2, | ||
| // 16, 4, | ||
| // 5, 1.1, 0); | ||
| //cv::OPTFLOW_USE_INITIAL_FLOW); | ||
| nextImg.copyTo(prevImg); | ||
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| sensor_msgs::Image result; | ||
| result.header = img->header; | ||
| result.width = flow.cols; | ||
| result.height = flow.rows; | ||
| result.encoding = "mono8"; | ||
| result.step = flow.cols; | ||
| result.data.resize(flow.cols * flow.rows); | ||
| CvPoint2D32f *ptr = (CvPoint2D32f *)flow.data; | ||
| for(int i = 0; i<result.data.size(); i++) { | ||
| // copy flow -> result | ||
| //result.data[i] = ; | ||
| int val = 10 * sqrt(ptr[i].x * ptr[i].x + ptr[i].y * ptr[i].y); | ||
| result.data[i] = 255>val?val:255; | ||
| } | ||
| result_pub_.publish(result); | ||
| } | ||
| }; | ||
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| int main(int argc, char **argv) | ||
| { | ||
| ros::init(argc, argv, "calc_flow"); | ||
| //cv::namedWindow(std::string("window"), ); | ||
| calc_flow_node flow_node; | ||
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| ros::spin(); | ||
| return 0; | ||
| } |