Latest change after thesis

MarlonRiv · Jul 22, 2024 · 60ff9c1 · 60ff9c1
1 parent b016597
commit 60ff9c1
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Showing 10 changed files with 2,169 additions and 663 deletions.
diff --git a/heading_decoding.png b/heading_decoding.png
diff --git a/include/detect/uv_led_detect_adaptive.cpp b/include/detect/uv_led_detect_adaptive.cpp
@@ -50,7 +50,15 @@ const std::vector<cv::Point>& standardPoints) {
 
     // Use a set to store unique points
     std::set<cv::Point, PointComparator> uniquePoints;
+
+    std::string outputDir = "/home/rivermar/Desktop/MRS_Master_Project/pres_images";
+
+    // Ensure the output directory exists
+    fs::create_directories(outputDir);
 
+    /* cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", inputImage); */
+
+    index++;
     // Reset detected points
     detectedPoints.clear();
     lastProcessedBinaryROIs_.clear();
@@ -171,7 +179,7 @@ std::vector<cv::Point> UVDARLedDetectAdaptive::applyAdaptiveThreshold(const cv::
 
 
     // Compute and plot histograms
-    cv::Mat histOriginal = plotHistogram(grayImage);
+    /* cv::Mat histOriginal = plotHistogram(grayImage); */
 
 
    /*  cv::Mat grayImage;
@@ -209,10 +217,10 @@ std::vector<cv::Point> UVDARLedDetectAdaptive::applyAdaptiveThreshold(const cv::
     cv::addWeighted(grayImage, 0.25, unsharpMask, 1.75, 0, enhancedImage);
 
 
-    cv::Mat histEnhanced = plotHistogram(enhancedImage);
+    /* cv::Mat histEnhanced = plotHistogram(enhancedImage); */
 
     // Specify the output directory
-    std::string outputDir = "/home/rivermar/Desktop/MRS_Master_Project/roi_images";
+    std::string outputDir = "/home/rivermar/Desktop/MRS_Master_Project/pres_images";
 
     // Ensure the output directory exists
     fs::create_directories(outputDir);
@@ -249,21 +257,22 @@ std::vector<cv::Point> UVDARLedDetectAdaptive::applyAdaptiveThreshold(const cv::
 
 
     //Save the original and enhanced images
-    cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", grayImage);
-    index++;
-    // Save the histograms adding an index for each histogram
-    cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", histOriginal);
-    index++;
-    //Save the binary ROI using the original image
-    cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", binaryRoiOriginal);
+    /* cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", grayImage); */
     index++;
+
+    /* // Save the histograms adding an index for each histogram */
+    /* cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", histOriginal); */
+    /* index++; */
+    /* //Save the binary ROI using the original image */
+    /* cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", binaryRoiOriginal); */
+    /* index++; */
     //Save the enhanced image
-    cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", enhancedImage);
-    index++;
-    cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", histEnhanced);
+    /* cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", enhancedImage); */
     index++;
-    //Save the binary ROI
-    cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", binaryRoi);
+    /* cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", histEnhanced); */
+    /* index++; */
+    /* //Save the binary ROI */
+    /* cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", binaryRoi); */
     index++;
 
     // Find contours in the binary ROI
@@ -308,9 +317,12 @@ std::vector<cv::Point> UVDARLedDetectAdaptive::applyAdaptiveThreshold(const cv::
 
     // Detect points within this ROI
     std::vector<cv::Point> roiDetectedPoints = detectPointsFromRoi(binaryRoi, roi);
+    /* //Save the binary ROI */
+    /* cv::imwrite(outputDir + "/im_" + std::to_string(index) + ".png", binaryRoi); */
+    index++;
 
     if (adaptive_debug_){
-        //Print the number of detected points
+      //Print the number of detected points
         std::cout << "[UVDARLedDetectAdaptive]: ROI NUMBER OF DETECTED POINTS: " << roiDetectedPoints.size() << std::endl;
     }
 
@@ -884,7 +896,7 @@ void UVDARLedDetectAdaptive::saveRoiImage(const cv::Mat& binaryRoi, const cv::Po
     std::string fullPath = fs::path(outputDir) / filename;
 
     // Save the image
-    cv::imwrite(fullPath, binaryRoi);
+    /* cv::imwrite(fullPath, binaryRoi); */
 }
 //}
 
@@ -912,4 +924,4 @@ ROIData UVDARLedDetectAdaptive::prepareAdaptiveDataForLogging() {
 }
 
 
-} // namespace uvdar
+} // namespace uvdar
diff --git a/include/detect/uv_led_detect_adaptive.h b/include/detect/uv_led_detect_adaptive.h
@@ -95,10 +95,10 @@ class UVDARLedDetectAdaptive{
     std::vector<float> klDivergence;
     std::vector<int> validRoi;
     int index = 0;
-
+    int index_g = 0;
 
 };
 
 } // namespace uvdar
 
-#endif // UV_LED_DETECT_ADAPTIVE_H
+#endif // UV_LED_DETECT_ADAPTIVE_H
diff --git a/launch/rosbag.launch b/launch/rosbag.launch
@@ -97,7 +97,7 @@
       <param name="publish"         type="bool" value="$(arg publish)"/>
       <param name="justReport" type="bool" value="true"/>
       <param name="threshold" type="int" value="$(arg threshold)"/>
-      <param name="adaptive_threshold" type="bool" value="false"/>
+      <param name="adaptive_threshold" type="bool" value="true"/>
       <param name="adaptive_method" type="string" value="otsu"/>
       <param name="adaptive_debug" type="bool" value="true"/>
 

diff --git a/scripts/.tmuxinator.yml b/scripts/.tmuxinator.yml
@@ -19,7 +19,7 @@ windows:
   - rqtviz:
       layout: even-vertical
       panes:
-        - waitForRos; sleep 3; rosbag record -O ~/Desktop/MRS_Master_Project/rosbags/good_sequence/diff_power_18m_th150_topics.bag /uav7/uvdar_bluefox/left/image_raw /uav7/uvdar/points_seen_left /uav7/uvdar/blinkers_seen_back /uav7/uvdar/ami_all_seq_info_back 
+        # - waitForRos; sleep 3; rosbag record -O ~/Desktop/MRS_Master_Project/rosbags/good_sequence/diff_power_18m_th150_topics.bag /uav7/uvdar_bluefox/left/image_raw /uav7/uvdar/points_seen_left /uav7/uvdar/blinkers_seen_back /uav7/uvdar/ami_all_seq_info_back 
         #- rosbag record -O rosbags/first/omta_38.bag -e "(.*)_camp"
         # - rosbag record -O rosbags/first/omta_39.bag -e "(.*)_camp"
         # - rosbag record -O rosbags/first/4dht_38.bag -e "(.*)_camp"
@@ -36,7 +36,8 @@ windows:
         # - waitForRos; sleep 3; rosbag play --clock ~/experiments/20_04/two_tx/two_tx/rx/occlusion_1/rx.bag
         # - waitForRos; sleep 3; rosbag play --clock ~/experiments/20_04/two_tx/two_tx/rx/occlusion_2/rx.bag
         # - waitForRos; rosbag play --clock ~/experiments/20_04/tumult/tumult/rx/rx.bag
-        - waitForRos; sleep 3; rosbag play --clock ~/Desktop/MRS_Master_Project/experiments/diff_power_18m_0615.bag
+        - waitForRos; sleep 3; rosbag play --clock ~/Desktop/MRS_Master_Project/experiments/diff_power_5m_0615.bag
+
         # - waitForRos; sleep 3; rosbag play --clock ~/experiments/19_04/demo_first/rx1/all_three/rx1.bag
 
   - topics: