Blob detection nodelet

CMakeLists.txt

@@ -66,6 +66,7 @@ generate_dynamic_reconfigure_options(
   cfg/HSVColorFilter.cfg
   cfg/LabColorFilter.cfg
   cfg/WatershedSegmentation.cfg
+  cfg/BlobDetection.cfg
   )
 
 ## Generate messages in the 'msg' folder
@@ -102,6 +103,9 @@ add_message_files(
    Contour.msg
    ContourArray.msg
    ContourArrayStamped.msg
+   Blob.msg
+   BlobArray.msg
+   BlobArrayStamped.msg
 )
 
 add_service_files(
@@ -327,6 +331,10 @@ opencv_apps_add_nodelet(segment_objects src/nodelet/segment_objects_nodelet.cpp)
 # ./videostab.cpp
 opencv_apps_add_nodelet(watershed_segmentation src/nodelet/watershed_segmentation_nodelet.cpp) # ./watershed.cpp
 
+if(OpenCV_VERSION VERSION_GREATER "3.0")
+  opencv_apps_add_nodelet(blob_detection src/nodelet/blob_detection_nodelet.cpp) # ./blob_detection.cpp
+endif()
+
 # ros examples
 opencv_apps_add_nodelet(simple_example src/nodelet/simple_example_nodelet.cpp)
 opencv_apps_add_nodelet(simple_compressed_example src/nodelet/simple_compressed_example_nodelet.cpp)
@@ -387,9 +395,12 @@ if(CATKIN_ENABLE_TESTING)
     message(WARNING "roslaunch_add_file check fails with unsupported doc attributes ${roslaunch_VERSION}")
   else()
     file(GLOB LAUNCH_FILES launch/*.launch)
+    if(NOT OpenCV_VERSION VERSION_GREATER "3.0")
+      list(REMOVE_ITEM LAUNCH_FILES ${CMAKE_CURRENT_SOURCE_DIR}/launch/blob_detection.launch)
+    endif()
     foreach(LAUNCH_FILE ${LAUNCH_FILES})
       roslaunch_add_file_check(${LAUNCH_FILE})
     endforeach()
   endif()
   add_subdirectory(test)
-endif()
+endif()

cfg/BlobDetection.cfg

@@ -0,0 +1,72 @@
+#! /usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2022, Hui Shi, University of Tartu.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Hui Shi, University of Tartu nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+PACKAGE = "opencv_apps"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", False)
+
+gen.add("hue_lower_limit", int_t, 0, "The minimum allowed field value Hue", 0, 0, 179)
+gen.add("hue_upper_limit", int_t, 0, "The maximum allowed field value Hue", 179, 0, 179)
+gen.add("sat_lower_limit", int_t, 0, "The minimum allowed field value Saturation", 0, 0, 255)
+gen.add("sat_upper_limit", int_t, 0, "The maximum allowed field value Saturation", 255, 0, 255)
+gen.add("val_lower_limit", int_t, 0, "The minimum allowed field value Value", 0, 0, 255)
+gen.add("val_upper_limit", int_t, 0, "The maximum allowed field value Value", 255, 0, 255)
+
+morphology_ex_type = gen.enum([ gen.const("off", str_t, "off", "no morphological operation"),
+                       gen.const("opening", str_t, "opening", "morphological operation type opening (erosion followed by dilation)"),
+                       gen.const("closing", str_t, "closing", "morphological operation type closing (dilation followed by erosion)")],
+                     "An enum for morphological operation type")
+gen.add("morphology_ex_type", str_t, 0, "morphological operation type", "off", edit_method=morphology_ex_type)
+gen.add("morphology_ex_kernel_size", int_t, 0, "morphological operation kernel size (should be odd number)", 3, 0, 100)
+
+gen.add("filter_by_color", bool_t, 0, "filter by color, use True/False to turn on/off the filtration", True)
+gen.add("blob_color", int_t, 0, "Use blob_color = 0 to extract dark blobs and blob_color = 255 to extract light blobs.", 255, 0, 255)
+gen.add("filter_by_area", bool_t, 0, "filter by area, use True/False to turn on/off the filtration", True)
+gen.add("min_area", double_t, 0, "Extracted blobs have an area between minArea (inclusive) and maxArea (exclusive).", 0, 0, 40000)
+gen.add("max_area", double_t, 0, "Extracted blobs have an area between minArea (inclusive) and maxArea (exclusive).", 40000, 0, 40000)
+gen.add("min_dist_between_blobs", double_t, 0, "The blobs located closer than minDistBetweenBlobs are merged.", 0, 0, 200)
+gen.add("filter_by_circularity", bool_t, 0, "filter by circularity, use True/False to turn on/off the filtration", False)
+gen.add("min_circularity", double_t, 0, "Extracted blobs have circularity between minCircularity (inclusive) and maxCircularity (exclusive).", 0, 0, 1)
+gen.add("max_circularity", double_t, 0, "Extracted blobs have circularity between minCircularity (inclusive) and maxCircularity (exclusive).", 1, 0, 1)
+gen.add("filter_by_inertia", bool_t, 0, "filter by inertia, use True/False to turn on/off the filtration", False)
+gen.add("min_inertia_ratio", double_t, 0, "Extracted blobs have this ratio between minInertiaRatio (inclusive) and maxInertiaRatio (exclusive).", 0, 0, 1)
+gen.add("max_inertia_ratio", double_t, 0, "Extracted blobs have this ratio between minInertiaRatio (inclusive) and maxInertiaRatio (exclusive).", 1, 0, 1)
+gen.add("filter_by_convexity", bool_t, 0, "filter by convexity, use True/False to turn on/off the filtration", False)
+gen.add("min_convexity", double_t, 0, "Extracted blobs have convexity between minConvexity (inclusive) and maxConvexity (exclusive).", 0, 0, 1)
+gen.add("max_convexity", double_t, 0, "Extracted blobs have convexity between minConvexity (inclusive) and maxConvexity (exclusive).", 1, 0, 1)
+
+exit(gen.generate(PACKAGE, "blob_detection", "BlobDetection"))

config/blob_detection.rviz

@@ -0,0 +1,180 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 172
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Blob Detection Demo1
+        - /Thresholded Image1
+        - /Thresholded Image With Mask1
+        - /MorphologyEx Image1
+      Splitter Ratio: 0.5
+    Tree Height: 848
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Blob Detection Demo
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /blob_detection/image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Blob Detection Demo
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /blob_detection/thresholded_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Thresholded Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /blob_detection/thresholded_image_with_mask
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Thresholded Image With Mask
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /blob_detection/morphology_ex_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: MorphologyEx Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.8353979587554932
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7603980302810669
+    Saved: ~
+Window Geometry:
+  Blob Detection Demo:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1472
+  Hide Left Dock: false
+  Hide Right Dock: true
+  MorphologyEx Image:
+    collapsed: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Thresholded Image:
+    collapsed: false
+  Thresholded Image With Mask:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2426
+  X: 134
+  Y: 68

config/blob_detection_config.yaml

@@ -0,0 +1,86 @@
+blob_color: 255
+debug_view: true
+filter_by_area: true
+filter_by_circularity: false
+filter_by_color: true
+filter_by_convexity: false
+filter_by_inertia: false
+hue_lower_limit: 0
+hue_upper_limit: 179
+image:
+  compressed:
+    format: jpeg
+    jpeg_quality: 80
+    png_level: 9
+  compressedDepth:
+    depth_max: 10.0
+    depth_quantization: 100.0
+    png_level: 9
+  theora:
+    keyframe_frequency: 64
+    optimize_for: 1
+    quality: 31
+    target_bitrate: 800000
+max_area: 40000.0
+max_area_upper_limit: 40000
+max_circularity: 1.0
+max_convexity: 1.0
+max_inertia_ratio: 1.0
+min_area: 0.0
+min_area_upper_limit: 40000
+min_circularity: 0.0
+min_convexity: 0.0
+min_dist_between_blobs: 0.0
+min_dist_between_blobs_upper_limit: 200
+min_inertia_ratio: 0.0
+morphology_ex_image:
+  compressed:
+    format: jpeg
+    jpeg_quality: 80
+    png_level: 9
+  compressedDepth:
+    depth_max: 10.0
+    depth_quantization: 100.0
+    png_level: 9
+  theora:
+    keyframe_frequency: 64
+    optimize_for: 1
+    quality: 31
+    target_bitrate: 800000
+morphology_ex_kernel_size: 3
+morphology_ex_type: 'off'
+num_worker_threads: 1
+queue_size: 3
+sat_lower_limit: 0
+sat_upper_limit: 255
+thresholded_image:
+  compressed:
+    format: jpeg
+    jpeg_quality: 80
+    png_level: 9
+  compressedDepth:
+    depth_max: 10.0
+    depth_quantization: 100.0
+    png_level: 9
+  theora:
+    keyframe_frequency: 64
+    optimize_for: 1
+    quality: 31
+    target_bitrate: 800000
+thresholded_image_with_mask:
+  compressed:
+    format: jpeg
+    jpeg_quality: 80
+    png_level: 9
+  compressedDepth:
+    depth_max: 10.0
+    depth_quantization: 100.0
+    png_level: 9
+  theora:
+    keyframe_frequency: 64
+    optimize_for: 1
+    quality: 31
+    target_bitrate: 800000
+use_camera_info: false
+val_lower_limit: 0
+val_upper_limit: 255