增加了launch文件，更改了颜色识别模式（鼠标点击识别）

silverbulletmdc · Nov 18, 2015 · 873639a · 873639a
1 parent 6a14ed2
commit 873639a
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Showing 13 changed files with 120 additions and 59 deletions.
diff --git a/build/catkin_generated/setup_cached.sh b/build/catkin_generated/setup_cached.sh
@@ -10,9 +10,9 @@
 export CMAKE_PREFIX_PATH="/home/meng/cspm/devel:$CMAKE_PREFIX_PATH"
 export CPATH="/home/meng/cspm/devel/include:$CPATH"
 export LD_LIBRARY_PATH="/home/meng/cspm/devel/lib:/home/meng/cspm/devel/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH"
-export PATH="/home/meng/cspm/devel/bin:/opt/ros/indigo/bin:/home/meng/Qt5.5.0/5.5/gcc_64/bin:/usr/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games"
+export PATH="/home/meng/cspm/devel/bin:$PATH"
 export PKG_CONFIG_PATH="/home/meng/cspm/devel/lib/pkgconfig:/home/meng/cspm/devel/lib/x86_64-linux-gnu/pkgconfig:$PKG_CONFIG_PATH"
 export PWD="/home/meng/cspm/build"
 export PYTHONPATH="/home/meng/cspm/devel/lib/python2.7/dist-packages:$PYTHONPATH"
 export ROSLISP_PACKAGE_DIRECTORIES="/home/meng/cspm/devel/share/common-lisp"
-export ROS_PACKAGE_PATH="/home/meng/cspm/src:$ROS_PACKAGE_PATH"
+export ROS_PACKAGE_PATH="/home/meng/cspm/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks"
diff --git a/build/catkin_make.cache b/build/catkin_make.cache
@@ -1,2 +1,2 @@
-face_detect:imu_handler:voice_detect
+face_detect:voice_detect
 -DCATKIN_DEVEL_PREFIX=/home/meng/cspm/devel -DCMAKE_INSTALL_PREFIX=/home/meng/cspm/install -G Unix Makefiles
diff --git a/build/face_detect/CMakeFiles/facedetect.dir/CXX.includecache b/build/face_detect/CMakeFiles/facedetect.dir/CXX.includecache
@@ -9,8 +9,6 @@
 /home/meng/cspm/src/face_detect/src/main.cpp
 stdafx.h
 /home/meng/cspm/src/face_detect/src/stdafx.h
-qt4/Qt/q3accel.h
-/home/meng/cspm/src/face_detect/src/qt4/Qt/q3accel.h
 
 /home/meng/cspm/src/face_detect/src/stdafx.h
 ros/ros.h

diff --git a/build/face_detect/CMakeFiles/facedetect.dir/src/main.cpp.o b/build/face_detect/CMakeFiles/facedetect.dir/src/main.cpp.o
diff --git a/cspm启动说明.md b/cspm启动说明.md
@@ -0,0 +1,10 @@
+1.启动roscore
+roscore
+2.需要将视频重发布为raw格式
+rosrun image_transport republish compressed in:=/camera/image raw out:=/camera/image
+3.需要将手柄重发布话题
+rosrun topic_tools relay /virtual_joystick/cmd_vel /cmd_vel
+4.不要忘记修改ip地址
+5.显示图像
+rosrun image_view image_view image:=/camera/image _image_transport:=compressed
+
diff --git a/devel/lib/face_detect/facedetect b/devel/lib/face_detect/facedetect
diff --git a/src/face_detect/launch/cspm.launch b/src/face_detect/launch/cspm.launch
@@ -0,0 +1,11 @@
+<launch>
+
+    <node pkg="image_view" name="image_view" type="image_view" args="image:=/camera/image _image_transport:=compressed"/>
+    <node pkg="topic_tools" name="relay" type="relay" args="/virtual_joystick/cmd_vel /cmd_vel"/>
+    <node pkg="image_transport" name="republish" type="republish" args="compressed in:=/camera/image raw out:=/camera/image"/>
+
+
+
+
+</launch>
+
diff --git a/src/face_detect/launch/cspm.launch~ b/src/face_detect/launch/cspm.launch~
@@ -0,0 +1,11 @@
+<launch>
+
+    <node pkg="image_view" name="image_view" type="image_view" args="image:=/camera/image _image_transport:=compressed"/>
+    <node pkg="topic_tools" name="relay" type="image_view" args="/virtual_joystick/cmd_vel /cmd_vel"/>
+    <node pkg="image_view" name="image_view" type="image_view" args="image:=/camera/image _image_transport:=compressed"/>
+    <node pkg="image_view" name="image_view" type="image_view" args="image:=/camera/image _image_transport:=compressed"/>
+
+
+
+</launch>
+
diff --git a/src/face_detect/scripts/color.py b/src/face_detect/scripts/color.py
@@ -44,6 +44,8 @@ def action(img_bytes, img_width, img_height):
 
     # Grab centroid of green ball
     ctr,pix_sum = color_tracker.track(img_bytes)
+    if ctr == (-1,-1):
+        return (0,0,0,0,0,0)
     # Use centroid if it exists
     if pix_sum / float(pix_sum_0) > 0.1:
         # Compute proportional distance (error) of centroid from image center

diff --git a/src/face_detect/scripts/color_tracker.py b/src/face_detect/scripts/color_tracker.py
@@ -19,8 +19,25 @@
 import cv2
 import numpy as np
 
+
+select_point = [0,0]
+px_hsv = np.uint8([[[0,0,0]]])
+enable_flags = False
+select_flags = False
 # For OpenCV2 image display
-WINDOW_NAME = 'GreenBallTracker' 
+WINDOW_NAME = 'ColorTracker'
+def select_color(event,x,y,flags,param):
+    global select_point
+    global enable_flags
+    global select_flags
+    if event==cv2.EVENT_LBUTTONDOWN:
+        select_point=[x,y]
+        enable_flags = True
+        select_flags =True
+        print '我选择了'+str(select_point)+'点'
+    if event == cv2.EVENT_RBUTTONDOWN:
+        enable_flags = False
+#cv2.setMouseCallback(WINDOW_NAME,select_color)
 
 def track(image):
 
@@ -31,66 +48,92 @@ def track(image):
     '''
 
     # Blur the image to reduce noise
+    global select_point
+    global enable_flags
+    global select_flags
+    global px_hsv
+
     image = cv2.resize(image,(640,360))
     blur = cv2.GaussianBlur(image, (5,5),0)
+    if enable_flags:
+        if select_flags:
+            px = np.uint8([[image[select_point[1],select_point[0]]]])
 
-    # Convert BGR to HSV
-    hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
+            px_hsv = cv2.cvtColor(px,cv2.COLOR_BGR2HSV)
+            select_flags = False
+        print px_hsv[0,0,0]
 
-    # Threshold the HSV image for only green colors
-    lower_green = np.array([40,70,70])
-    upper_green = np.array([80,200,200])
 
-    # Threshold the HSV image to get only green colors
-    mask = cv2.inRange(hsv, lower_green, upper_green)
+        if px_hsv[0,0,0]>20 and px_hsv[0,0,0]<235:
+            lower_color = np.array([px_hsv[0,0,0] - 20,70,70])
+            upper_color = np.array([px_hsv[0,0,0] + 20,200,200])
+        elif px_hsv[0,0,0] <= 20:
+            lower_color = np.array([0,70,70])
+            upper_color = np.array([px_hsv[0,0,0] + 20,200,200])
+        elif px_hsv[0,0,0] >=235:
+            lower_color = np.array([px_hsv[0,0,0] - 20,70,70])
+            upper_color = np.array([255,200,200])
 
-
-    # Blur the mask
-    bmask = cv2.GaussianBlur(mask, (5,5),0)
-    cv2.imshow("bmask",bmask)
+        # Convert BGR to HSV
+        hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
 
+        # Threshold the HSV image for only green colors
 
-    # Take the moments to get the centroid
-    moments = cv2.moments(bmask)
-    sum_pix = np.sum(mask)
-    print sum_pix
 
-    m00 = moments['m00']
-    centroid_x, centroid_y = None, None
-    if m00 != 0:
-        centroid_x = int(moments['m10']/m00)
-        centroid_y = int(moments['m01']/m00)
+        # Threshold the HSV image to get only green colors
+        mask = cv2.inRange(hsv, lower_color, upper_color)
 
-    # Assume no centroid
-    ctr = (-1,-1)
 
-    # Use centroid if it exists
-    if centroid_x != None and centroid_y != None:
+        # Blur the mask
+        bmask = cv2.GaussianBlur(mask, (5,5),0)
+        cv2.imshow("bmask",bmask)
 
-        ctr = (centroid_x, centroid_y)
 
-        # Put black circle in at centroid in image
-        cv2.circle(image, ctr, 4, (0,0,0))
+        # Take the moments to get the centroid
+        moments = cv2.moments(bmask)
+        sum_pix = np.sum(mask)
 
-    # Display full-color image
-    cv2.imshow(WINDOW_NAME, image)
 
-    # Force image display, setting centroid to None on ESC key input
-    if cv2.waitKey(1) & 0xFF == 27:
-        ctr = None
-
-    # Return coordinates of centroid
-    return ctr,sum_pix/(255*255*255)
+        m00 = moments['m00']
+        centroid_x, centroid_y = None, None
+        if m00 != 0:
+            centroid_x = int(moments['m10']/m00)
+            centroid_y = int(moments['m01']/m00)
+
+        # Assume no centroid
+        ctr = (-1,-1)
+
+        # Use centroid if it exists
+        if centroid_x != None and centroid_y != None:
+
+            ctr = (centroid_x, centroid_y)
+
+            # Put black circle in at centroid in image
+            cv2.circle(image, ctr, 4, (0,0,0))
+
+        # Display full-color image
+        cv2.imshow(WINDOW_NAME, image)
+
+        # Force image display, setting centroid to None on ESC key input
+        if cv2.waitKey(1) & 0xFF == 27:
+            ctr = None
+
+        # Return coordinates of centroid
+        return ctr,sum_pix/(255*255*255)
+    cv2.imshow(WINDOW_NAME, image)
+    return (-1,-1),-1
 
 # Test with input from camera
 if __name__ == '__main__':
+    cv2.namedWindow(WINDOW_NAME)
 
     capture = cv2.VideoCapture("test.mp4")
-
+    cv2.setMouseCallback(WINDOW_NAME,select_color)
     while True:
 
         okay, image = capture.read()
 
+
         if okay:
 
             if not track(image):

diff --git a/src/face_detect/src/main.cpp b/src/face_detect/src/main.cpp
@@ -1,5 +1,5 @@
 #include "stdafx.h"
-#include "qt4/Qt/q3accel.h"
+
 
 using namespace std;
 using namespace cv;

diff --git a/src/imu_handler/src/main.cpp → src/face_detect/src/main.cpp~ b/src/imu_handler/src/main.cpp → src/face_detect/src/main.cpp~
@@ -1,4 +1,6 @@
 #include "stdafx.h"
+#include "qt4/Qt/q3accel.h"
+
 using namespace std;
 using namespace cv;
 

diff --git a/src/imu_handler/src/stdafx.h b/src/imu_handler/src/stdafx.h