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[WIP] Adds rostopic support to vision_gui #135

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[WIP] Adds rostopic support to vision_gui #135

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2 changes: 1 addition & 1 deletion vision_stack/vision_gui/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ FIND_PACKAGE(Qt4 REQUIRED)
find_package( OpenCV REQUIRED )
INCLUDE(${QT_USE_FILE})
ADD_DEFINITIONS(-DQT_NO_KEYWORDS)
include_directories(include/${PROJECT_NAME}/ ${CMAKE_CURRENT_BINARY_DIR})
include_directories(include/${PROJECT_NAME}/ ${CMAKE_CURRENT_BINARY_DIR} task_bouy/include/ task_marker/include/)

##############################################################################
# Ros Initialisation
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13 changes: 13 additions & 0 deletions vision_stack/vision_gui/include/ImageNew/mainwindow.hpp
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Expand Up @@ -24,6 +24,11 @@
#include <cstring>
#include <sstream>
#include <QtCore>
#include <ros/ros.h>
#include <ros/network.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>

class MyLabel : public QLabel
{

Expand Down Expand Up @@ -59,6 +64,8 @@ public Q_SLOTS:
void on_startCamera_clicked();
void on_pauseCamera_clicked();
void on_closeCamera_clicked();
void on_submitRosTopic_clicked();

// slider callbacks
void on_HValue_slider_valueChanged(int value);
void on_SValue_slider_valueChanged(int value);
Expand All @@ -67,6 +74,7 @@ public Q_SLOTS:
void on_SThreshValue_slider_valueChanged(int value);
void on_VThreshValue_slider_valueChanged(int value);
void on_colorImage_mouseDoubleClickEvent(QMouseEvent * ev);
void imageCallBack(const sensor_msgs::ImageConstPtr &_msg);

/******** Filters ****************/

Expand Down Expand Up @@ -119,12 +127,17 @@ public Q_SLOTS:
Ui::MainWindow *ui;
bool camera_opend,video_being_processed;
cv::Scalar start,end;
// ros::NodeHandle n;
// image_transport::ImageTransport it(n);
// image_transport::Subscriber sub;
// const sensor_msgs::ImageConstPtr &msg;
std::string fileName;
QTimer *timer;
cv::Mat colorImage,displayImage,thImage,binaryImage,camImage;
cv::VideoCapture cam;
cv::Size image_size;
MyLabel *colorLabel;
// sensor_msgs::ImageConstPtr msg;
cv::Vec3b vec;
bool getNextFrame(cv::Mat &img);
void displayImages();
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4 changes: 4 additions & 0 deletions vision_stack/vision_gui/manifest.xml
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Expand Up @@ -10,8 +10,12 @@
<url>http://ros.org/wiki/ImageNew</url>
<depend package="roscpp"/>
<depend package="cv_bridge"/>
<depend package="image_transport"/>
<depend package="blob"/>
<depend package="resources"/>
<depend package="actionlib"/>
<depend package="actionmsg"/>
<depend package="kraken_msgs"/>

</package>

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48 changes: 47 additions & 1 deletion vision_stack/vision_gui/src/mainwindow.cpp
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Expand Up @@ -5,14 +5,17 @@
#include <fstream>
#include <stdio.h>
#include <stdlib.h>

#include <blob/blob.h>
#include <blob/BlobResult.h>
#include <blob/BlobContour.h>
#include <blob/BlobLibraryConfiguration.h>
#include <blob/BlobOperators.h>
#include <blob/ComponentLabeling.h>
#include <blob/BlobProperties.h>
#include <ros/ros.h>
#include <ros/network.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>

QString fn_video;

Expand Down Expand Up @@ -76,6 +79,7 @@ MyWindow::MyWindow(QWidget *parent) :
filter_arg2 = B_LESS;
filter_arg4 = B_INCLUDE;
filter_arg5_area = 500;

}

void MyWindow::setThresh()
Expand Down Expand Up @@ -502,6 +506,48 @@ void MyWindow::on_closeCamera_clicked()
ui->closeCamera->setEnabled(false);
}

void MyWindow::on_submitRosTopic_clicked()
{
QString topic = ui->textRosTopic->text();
try
{
int argc = 0;
ros::init(argc,NULL,"vision_gui_rostopic");
ros::NodeHandle n;
std::cout <<"Correct ROS Topic input given."<< std::endl;
image_transport::ImageTransport it(n);
image_transport::Subscriber sub;
while(ros::ok())
{
sub = it.subscribe(topic.toUtf8().constData(), 1, &MyWindow::imageCallBack, this);
std::cout <<"ROS Loop"<< std::endl;
}
ros::shutdown();
}
catch (ros::InvalidNameException& e)
{
std::cout <<"Incorrect ROS Topic input given : "<<topic.toUtf8().constData()<< std::endl;
ros::shutdown();
}
}

void MyWindow::imageCallBack(const sensor_msgs::ImageConstPtr &_msg)
{
try
{
cv_bridge::CvImagePtr imagePtr = cv_bridge::toCvCopy(_msg, "bgr8");
std::cout <<"ROS Topic Subscription Callback." << std::endl;
camImage = imagePtr->image;
source_from_log = true;
video_being_processed = true;
setThresh();
}
catch (cv_bridge::Exception& e)
{
std::cout <<"ROS Topic input given : Could not convert from" << _msg->encoding.c_str() << std::endl;
}
}

void MyWindow::on_HValue_slider_valueChanged(int value)
{
std::ostringstream str;
Expand Down
13 changes: 13 additions & 0 deletions vision_stack/vision_gui/src/mainwindow.hpp
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Expand Up @@ -24,6 +24,11 @@
#include <cstring>
#include <sstream>
#include <QtCore>
#include <ros/ros.h>
#include <ros/network.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>

class MyLabel : public QLabel
{

Expand Down Expand Up @@ -59,6 +64,8 @@ public Q_SLOTS:
void on_startCamera_clicked();
void on_pauseCamera_clicked();
void on_closeCamera_clicked();
void on_submitRosTopic_clicked();

// slider callbacks
void on_HValue_slider_valueChanged(int value);
void on_SValue_slider_valueChanged(int value);
Expand All @@ -67,6 +74,7 @@ public Q_SLOTS:
void on_SThreshValue_slider_valueChanged(int value);
void on_VThreshValue_slider_valueChanged(int value);
void on_colorImage_mouseDoubleClickEvent(QMouseEvent * ev);
void imageCallBack(const sensor_msgs::ImageConstPtr &msg);

/******** Filters ****************/

Expand Down Expand Up @@ -119,13 +127,18 @@ public Q_SLOTS:
Ui::MainWindow *ui;
bool camera_opend,video_being_processed;
cv::Scalar start,end;
// ros::NodeHandle n;
// image_transport::ImageTransport it(n);
// image_transport::Subscriber sub;
// const sensor_msgs::ImageConstPtr &msg;
std::string fileName;
QTimer *timer;
cv::Mat colorImage,displayImage,thImage,binaryImage,camImage;
cv::VideoCapture cam;
cv::Size image_size;
MyLabel *colorLabel;
cv::Vec3b vec;
// sensor_msgs::ImageConstPtr msg;
bool getNextFrame(cv::Mat &img);
void displayImages();
void setThresh();
Expand Down
19 changes: 19 additions & 0 deletions vision_stack/vision_gui/ui/mainwindow.ui
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,11 @@
<string>Open Video</string>
</property>
</item>
<item>
<property name="text">
<string>Open Bag</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
Expand Down Expand Up @@ -108,6 +113,20 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLineEdit" name="textRosTopic">
<property name="text">
<string>/kraken/front_camera/buoy_image</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QPushButton" name="submitRosTopic">
<property name="text">
<string>Submit ROS topic</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
Expand Down