cv_hsv

demo_cmakelists/9_cv_hsv.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(cv_pkg)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+
+add_executable(cv_hsv src/cv_hsv.cpp)
+ament_target_dependencies(cv_hsv "rclcpp" "sensor_msgs" "cv_bridge" "OpenCV")
+
+install(TARGETS cv_hsv
+DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

demo_cpp/9_cv_hsv.cpp

@@ -1,6 +1,6 @@
 #include <rclcpp/rclcpp.hpp>
-#include <cv_bridge/cv_bridge.h>
 #include <sensor_msgs/msg/image.hpp>
+#include <cv_bridge/cv_bridge.h>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/highgui/highgui.hpp> 
 
@@ -27,22 +27,24 @@ void CamRGBCallback(const sensor_msgs::msg::Image::SharedPtr msg)
     
     // Convert RGB image to HSV
     Mat imgHSV;
-    vector<Mat> hsvSplit;
     cvtColor(imgOriginal, imgHSV, COLOR_BGR2HSV);
 
     // Perform histogram equalization in the HSV space
+    vector<Mat> hsvSplit;
     split(imgHSV, hsvSplit);
     equalizeHist(hsvSplit[2], hsvSplit[2]);
     merge(hsvSplit, imgHSV);
-    Mat imgThresholded;
 
     // Threshold the image using the specified Hue, Saturation, and Value thresholds
-    inRange(imgHSV, Scalar(iLowH, iLowS, iLowV), Scalar(iHighH, iHighS, iHighV), imgThresholded); 
+    Mat imgThresholded;
+    inRange(imgHSV, 
+        Scalar(iLowH, iLowS, iLowV), 
+        Scalar(iHighH, iHighS, iHighV), 
+        imgThresholded); 
 
-    // Opening operation (remove some noise)
     Mat element = getStructuringElement(MORPH_RECT, Size(5, 5));
+    // Opening operation (remove some noise)
     morphologyEx(imgThresholded, imgThresholded, MORPH_OPEN, element);
-
     // Closing operation (connect some regions)
     morphologyEx(imgThresholded, imgThresholded, MORPH_CLOSE, element);
 
@@ -52,7 +54,6 @@ void CamRGBCallback(const sensor_msgs::msg::Image::SharedPtr msg)
     int nPixCount = 0;
     int nImgWidth = imgThresholded.cols;
     int nImgHeight = imgThresholded.rows;
-    int nImgChannels = imgThresholded.channels();
     for (int y = 0; y < nImgHeight; y++)
     {
         for (int x = 0; x < nImgWidth; x++)
@@ -69,7 +70,7 @@ void CamRGBCallback(const sensor_msgs::msg::Image::SharedPtr msg)
     {
         nTargetX /= nPixCount;
         nTargetY /= nPixCount;
-        printf("Color centroid coordinates (%d, %d) Point count = %d\n", nTargetX, nTargetY, nPixCount);
+        printf("Target (%d, %d) PixelCount = %d\n", nTargetX, nTargetY, nPixCount);
         // Draw coordinates
         Point line_begin = Point(nTargetX - 10, nTargetY);
         Point line_end = Point(nTargetX + 10, nTargetY);
@@ -80,7 +81,7 @@ void CamRGBCallback(const sensor_msgs::msg::Image::SharedPtr msg)
     }
     else
     {
-        printf("Target color disappeared...\n");
+        printf("Target disappeared...\n");
     }
 
     // Display the processed images
@@ -101,8 +102,6 @@ int main(int argc, char **argv)
     // Create windows for image display and parameter adjustment
     namedWindow("Threshold", WINDOW_AUTOSIZE);
 
-    // createTrackbar( "LowH", "Threshold", nullptr, 179, 0 );
-    // setTrackbarPos( "LowH", "Threshold", iLowH);
     createTrackbar("LowH", "Threshold", &iLowH, 179); //Hue (0 - 179)
     createTrackbar("HighH", "Threshold", &iHighH, 179);
 

demo_package/9_cv_hsv.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>cv_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="robot@6-robot.com">robot</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>OpenCV</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>