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MarlonRiv · Apr 17, 2024 · 6b06971 · 6b06971
1 parent b68b51c
commit 6b06971
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Showing 2 changed files with 23 additions and 13 deletions.
diff --git a/include/detect/uv_led_detect_adaptive.cpp b/include/detect/uv_led_detect_adaptive.cpp
@@ -223,7 +223,7 @@ std::vector<cv::Point> UVDARLedDetectAdaptive::applyAdaptiveThreshold(const cv::
     cv::Mat mask = cv::Mat::zeros(binaryRoi.size(), CV_8UC1);
 
     //Get the number of contours
-    //std::cout << "[UVDARLedDetectAdaptive]: NUMBER OF CONTOURS: " << contours.size() << std::endl;
+    std::cout << "[UVDARLedDetectAdaptive]: NUMBER OF CONTOURS: " << contours.size() << std::endl;
 
     if (contours.size() >= 4){
         //Return empty roiDetectedPoints
@@ -237,11 +237,11 @@ std::vector<cv::Point> UVDARLedDetectAdaptive::applyAdaptiveThreshold(const cv::
         double area = cv::contourArea(contour);
         // Filter based on area
         if (area < MAX_AREA) {
-            //std::cout << "[UVDARLedDetectAdaptive]: IN AREA: " << area << std::endl;
+            std::cout << "[UVDARLedDetectAdaptive]: IN AREA: " << area << std::endl;
             // Draw the contour on the mask
             cv::drawContours(mask, std::vector<std::vector<cv::Point>>{contour}, -1, cv::Scalar(255), cv::FILLED);
         }else{
-            //std::cout << "[UVDARLedDetectAdaptive]: OUT OF AREA: " << area << std::endl;
+            std::cout << "[UVDARLedDetectAdaptive]: OUT OF AREA: " << area << std::endl;
         }
     }
 
@@ -250,10 +250,10 @@ std::vector<cv::Point> UVDARLedDetectAdaptive::applyAdaptiveThreshold(const cv::
 
     // Detect points within this ROI
     std::vector<cv::Point> roiDetectedPoints = detectPointsFromRoi(binaryRoi, roi);
-    //std::cout << "[UVDARLedDetectAdaptive]: ROI DETECTED POINTS: " << roiDetectedPoints.size() << std::endl;
+    std::cout << "[UVDARLedDetectAdaptive]: ROI DETECTED POINTS: " << roiDetectedPoints.size() << std::endl;
 
-    if (roiDetectedPoints.size() > 3){
-        //std::cout << "[UVDARLedDetectAdaptive]: NOISY ROI: " << roiDetectedPoints.size() << std::endl;
+    if (roiDetectedPoints.size() > 5){
+        std::cout << "[UVDARLedDetectAdaptive]: NOISY ROI: " << roiDetectedPoints.size() << std::endl;
         //saveRoiImage(binaryRoi, point, roiIndex_++, thresholdValue, -1.0);
 
         numberDetectedPoints.push_back(roiDetectedPoints.size());
@@ -811,4 +811,5 @@ ROIData UVDARLedDetectAdaptive::prepareAdaptiveDataForLogging() {
     return adaptiveData;
 }
 
+
 } // namespace uvdar
diff --git a/src/detector.cpp b/src/detector.cpp
@@ -407,7 +407,6 @@ class UVDARDetector : public nodelet::Nodelet{
    * 
    * 
   */
-    ROS_INFO_STREAM("[UVDARDetector]: Processing image with standard thresholding.");
 
     if ( ! (uvdf_->processImage(
               image->image,
@@ -446,8 +445,6 @@ class UVDARDetector : public nodelet::Nodelet{
   */
 
 
-    ROS_INFO_STREAM("[UVDARDetector]: Processing image with tracking points only.");
-
     if( ! (uvda_[image_index]->processImageAdaptive(
             image->image,
             trackingPoints,
@@ -470,7 +467,15 @@ class UVDARDetector : public nodelet::Nodelet{
 
   /* publishAdaptive //{ */
   void publishAdaptive(const cv_bridge::CvImageConstPtr& image, int image_index, const std::vector<cv::Point>& adaptive_detected_points) {
-    ROS_INFO_STREAM("[UVDARDetector]: Publishing adaptive points.");
+
+    ROS_INFO_STREAM("[UVDARDetector]: Publishing adaptive points. In camera: " << image_index);
+
+    if (!adaptive_detected_points.empty()) {      
+      //Current camera
+      ROS_INFO_STREAM("[UVDARDetector]: Detected adaptive points in camera " << image_index << ": " << adaptive_detected_points.size());
+    } else {
+      ROS_INFO_STREAM("[UVDARDetector]: No detected adaptive points. In camera: " << image_index);
+    }
     uvdar_core::ImagePointsWithFloatStamped msg_detected;
     msg_detected.stamp = image->header.stamp;
     msg_detected.image_width = image->image.cols;
@@ -499,13 +504,13 @@ class UVDARDetector : public nodelet::Nodelet{
 
   /* publishStandard //{ */
   void publishStandard(const cv_bridge::CvImageConstPtr& image, int image_index, const std::vector<cv::Point>& detected_points) {
-    ROS_INFO_STREAM("[UVDARDetector]: Publishing standard points.");
-    ROS_INFO_STREAM("[UVDARDetector]: This is the image index: " << image_index);
+
+    ROS_INFO_STREAM("[UVDARDetector]: Detected points in camera " << image_index << ": " << detected_points.size());
 
     if (!detected_points.empty()) {
       ROS_INFO_STREAM("[UVDARDetector]: Detected points: " << detected_points.size());
     } else {
-      ROS_INFO_STREAM("[UVDARDetector]: No detected points.");
+      ROS_INFO_STREAM("[UVDARDetector]: No detected points. In camera: " << image_index);
     }
 
   /*   // Print the points
@@ -579,9 +584,12 @@ class UVDARDetector : public nodelet::Nodelet{
         adaptive_detected_points_[image_index].clear();
 
         //TODO: Check if its worth it, this to be able to detect new points that where not currently detected
+        ROS_INFO_STREAM("[UVDARDetector]: Processing image with standard thresholding. In camera: " << image_index);
+
         processStandard(image, image_index);
 
         //ROS_INFO_STREAM("[UVDARDetector]: Processing image with tracking points only.");
+        ROS_INFO_STREAM("[UVDARDetector]: Processing image with adaptive thresholding. In camera: " << image_index);
         processAdaptive(image, image_index, trackingPointsPerCamera[image_index]);
 
       }
@@ -643,6 +651,7 @@ class UVDARDetector : public nodelet::Nodelet{
       }
 
       if (_adaptive_threshold_ && adaptive_detected_points_[image_index].size() > 0){
+
         publishAdaptive(image, image_index, adaptive_detected_points_[image_index]);
       }
       else{