road_recognition.cpp

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#include <ros/ros.h>                                                    //Includes all the headers necessary to use the most common public pieces of the ROS system.
#include <image_transport/image_transport.h>    //Use image_transport for publishing and subscribing to images in ROS
#include <cv_bridge/cv_bridge.h>                                //Use cv_bridge to convert between ROS and OpenCV Image formats
#include <sensor_msgs/image_encodings.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 <opencv2/imgproc/imgproc.hpp>                  //Include headers for OpenCV Image processing
#include <opencv2/highgui/highgui.hpp>                  //Include headers for OpenCV GUI handling

//Store all constants for image encodings in the enc namespace to be used later.
namespace enc = sensor_msgs::image_encodings;

//Declare a string with the name of the window that we will create using OpenCV where processed images will be displayed.
static const char WINDOW1[] = "Image Processed";
static const char WINDOW0[] = "Image Raw";

//Use method of ImageTransport to create image publisher
image_transport::Publisher pub;
// image_transport::Publisher pub_raw;

void imageCallback(const sensor_msgs::ImageConstPtr& original_image)
{
        int x=0 , y=0;
        //Convert from the ROS image message to a CvImage suitable for working with OpenCV for processing
        cv_bridge::CvImagePtr cv_ptr;
        cv_bridge::CvImagePtr cv_ptr_clone;
        
        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);
                cv_ptr_clone = cv_bridge::toCvCopy(original_image, enc::BGR8);
                cv::Mat cv_clone=cv_ptr->image.clone();
                
        }
        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;
        }
        
        
        /*Process the image */
        /* para todas as linhas */
        
        for(int i = 0; i<cv_ptr->image.rows; i++)
        {
                /* Para todas as colunas */
                for(int j = 0; j<cv_ptr->image.cols; j++)
                {
                        if (cv_ptr->image.at<cv::Vec3b>(i,j)[0]>100 && cv_ptr->image.at<cv::Vec3b>(i,j)[1]>120 && cv_ptr->image.at<cv::Vec3b>(i,j)[2]>110 && cv_ptr->image.at<cv::Vec3b>(i,j)[0]<255 && cv_ptr->image.at<cv::Vec3b>(i,j)[1]<255 && cv_ptr->image.at<cv::Vec3b>(i,j)[2]<255)
                        {
                                if (cv_ptr->image.at<cv::Vec3b>(i,j)[0]>120 && cv_ptr->image.at<cv::Vec3b>(i,j)[1]>190 && cv_ptr->image.at<cv::Vec3b>(i,j)[2]>120 && cv_ptr->image.at<cv::Vec3b>(i,j)[0]<160 && cv_ptr->image.at<cv::Vec3b>(i,j)[1]<255 && cv_ptr->image.at<cv::Vec3b>(i,j)[2]<150)
                                {
                                        cv_ptr_clone->image.at<cv::Vec3b>(i,j)[0] = 255;
                                        cv_ptr_clone->image.at<cv::Vec3b>(i,j)[1] = 255;
                                        cv_ptr_clone->image.at<cv::Vec3b>(i,j)[2] = 255;
                                }
                                else
                                {
                                        cv_ptr_clone->image.at<cv::Vec3b>(i,j)[0] = 0;
                                        cv_ptr_clone->image.at<cv::Vec3b>(i,j)[1] = 0;
                                        cv_ptr_clone->image.at<cv::Vec3b>(i,j)[2] = 0;
                                }
                        }
                        else
                        {
                                cv_ptr_clone->image.at<cv::Vec3b>(i,j)[0] = 255;
                                cv_ptr_clone->image.at<cv::Vec3b>(i,j)[1] = 255;
                                cv_ptr_clone->image.at<cv::Vec3b>(i,j)[2] = 255;
                        }
                }
        }
        
        /* Criar um vector com as varias camadas da imagem */
        std::vector<cv::Mat> channels;
        
        /* separar a imagem em camadas */
        cv::split(cv_ptr_clone->image, channels);
        
        /* Separar a img nos varios canais */
        cv::Mat imageB = channels[0];
        cv::Mat imageG = channels[1];
        cv::Mat imageR = channels[2];
        
        /* Iniciar o check = 0 */
        int check = 0;

//      ROS_INFO("valor das colunas %d",imageR.at<uchar>(100 , 100));
//      ROS_INFO("O valor das condicoes do if \n %d \n %d",cv_ptr->image.at<uchar>(cv_ptr->image.rows , cv_ptr->image.cols/2) , cv_ptr->image.at<uchar>(cv_ptr->image.rows - 2, cv_ptr->image.cols / 2));
//      ROS_INFO("O valor das condicoes do if da camada red \n %d\n %d",imageR.at<uchar>(imageR.rows , imageR.cols/2),imageR.at<uchar>(imageR.rows - 2, imageR.cols / 2));
//      ROS_INFO("Numero de colunas da img %s e linhas %s",cv_ptr->image.cols,cv_ptr->image.rows);
        
//      if (imageR.at<uchar>(imageR.rows , imageR.cols/2) == 0 &&  imageR.at<uchar>(imageR.rows - 2, imageR.cols / 2) == 0)
        if ( (imageR.at<uchar>(imageR.rows-1 , imageR.cols/2) <= 2) && (imageR.at<uchar>(imageR.rows - 2, imageR.cols / 2) <= 2) )
        {
//              ROS_INFO("Entrou dentro do if");
                
                for (int i=1 ; i<imageR.rows-10 ; i++)
                {
                        if ( imageR.at<uchar>(i , 1) && imageR.at<uchar>(i+1 , 1) && imageR.at<uchar>(i+4 , 1) && imageR.at<uchar>(i+5 , 1)==255 && imageR.at<uchar>(i+10 , 1)==255)
                        {
                                x=i;
                        }
                        
                        if ( imageR.at<uchar>(i , cv_ptr->image.cols) && imageR.at<uchar>(i+2 , cv_ptr->image.cols) && imageR.at<uchar>(i+4 , cv_ptr->image.cols)==255 && imageR.at<uchar>(i+10 , cv_ptr->image.cols)==255)
                        {
                                y=i;
                        }
                }
//              ROS_INFO("Saiu do for ");
//              ROS_INFO("x=%d - y=%d",x,y);
                if(x>=160 || y>=160)
                {
                        if(x==y || x==y+2)
                        {
//                              cv::imshow("SIGNAL", arrow3);
                                ROS_ERROR("Right");
                                check=1;
                        }
                        else if (x<y)
                        {
//                              cv::imshow("SIGNAL", arrow4);
                                ROS_ERROR("Left");
                                check=1;
                        }
                        else if (x>y)
                        {
//                              cv::imshow("SIGNAL", arrow2);
                                ROS_ERROR("Right");
                                check=1;
                        }
                }
                
                if (check==0)
                {
//                      cv::imshow("SIGNAL", arrow5);
                        ROS_ERROR("UP");
                }
        }
        else
        {
//              ROS_ERROR("Cross");
        }

//      cv_bridge::CvImage cv_ptr_clone(cv_ptr->header,cv_ptr->encoding,copy);
        
        /* Criar uma janela para publicar as imagens */
        cv::imshow(WINDOW1, cv_ptr_clone->image);
        cv::imshow(WINDOW0, cv_ptr->image);
        cv::waitKey(3);
        
        //Convert the CvImage to a ROS image message and publish it on the "camera/image_processed" topic.
//      pub.publish(cv_ptr->toImageMsg());
        pub.publish(cv_ptr_clone->toImageMsg());
}

int main(int argc, char **argv)
{
        ros::init(argc, argv, "image_processor");

        ros::NodeHandle nh;
        //Create an ImageTransport instance, initializing it with our NodeHandle.
        image_transport::ImageTransport it(nh);
        //OpenCV HighGUI call to create a display window on start-up.
        cv::namedWindow(WINDOW0, CV_WINDOW_AUTOSIZE);
        cv::namedWindow(WINDOW1, CV_WINDOW_AUTOSIZE);

        image_transport::Subscriber sub = it.subscribe("image", 1, imageCallback);
        //OpenCV HighGUI call to destroy a display window on shut-down.
        cv::destroyWindow(WINDOW0);
        cv::destroyWindow(WINDOW1);
        
//      pub_raw = it.advertise("image_raw", 1);
        pub = it.advertise("image_processed", 1);
        
        ros::spin();
        ROS_INFO("tutorialROSOpenCV::main.cpp::No error.");
}