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refreshed code
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@randaz81
randaz81 committed Nov 5, 2024
1 parent 76c9c24 commit c7b76ea
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Showing 3 changed files with 42 additions and 39 deletions.
7 changes: 4 additions & 3 deletions src/common/areas/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,12 @@

project(areas)

file(GLOB folder_source *.cpp)
#file(GLOB folder_source areas.cpp)
file(GLOB folder_source roomsSegmentation2.cpp)

file(GLOB folder_header *.h)

find_package(YARP 3.3 COMPONENTS os sig dev math gsl idl_tools REQUIRED)
find_package(YARP 3.9 COMPONENTS os sig dev math gsl idl_tools REQUIRED)
find_package(OpenCV)

source_group("Source Files" FILES ${folder_source})
Expand All @@ -19,4 +21,3 @@ include_directories(${OpenCV_INCLUDE_DIRS} ${ICUB_INCLUDE_DIRS})
add_executable(${PROJECT_NAME} ${folder_source} ${folder_header})
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${YARP_LIBRARIES} ${ICUB_LIBRARIES})
install(TARGETS ${PROJECT_NAME} DESTINATION bin)

25 changes: 13 additions & 12 deletions src/common/areas/areas.cpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include <cv.h>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/opencv.hpp>
#include <math.h>
#include <iostream>
#include <yarp/dev/MapGrid2D.h>
Expand All @@ -14,6 +14,7 @@ using namespace cv;
using namespace std;
using namespace yarp::os;
using namespace yarp::dev;
using namespace yarp::dev::Nav2D;

const int w = 500;
int levels = 3;
Expand Down Expand Up @@ -88,14 +89,14 @@ int main( int argc, char** argv)
for (auto y = 0; y <h; y++)
{
unsigned char c = 0;
yarp::dev::MapGrid2D::map_flags pixin;
the_map.getMapFlag(yarp::dev::MapGrid2D::XYCell(x, y), pixin);
if (pixin == yarp::dev::MapGrid2D::MAP_CELL_WALL) { c = 0;}
else if (pixin == yarp::dev::MapGrid2D::MAP_CELL_UNKNOWN) { c = 0; }
else if (pixin == yarp::dev::MapGrid2D::MAP_CELL_FREE) { c = 255; }
else if (pixin == yarp::dev::MapGrid2D::MAP_CELL_KEEP_OUT) { c = 255; }
else if (pixin == yarp::dev::MapGrid2D::MAP_CELL_ENLARGED_OBSTACLE) { c = 255; }
else if (pixin == yarp::dev::MapGrid2D::MAP_CELL_TEMPORARY_OBSTACLE) { c = 255; }
MapGrid2D::map_flags pixin;
the_map.getMapFlag(XYCell(x, y), pixin);
if (pixin == MapGrid2D::MAP_CELL_WALL) { c = 0;}
else if (pixin == MapGrid2D::MAP_CELL_UNKNOWN) { c = 0; }
else if (pixin == MapGrid2D::MAP_CELL_FREE) { c = 255; }
else if (pixin == MapGrid2D::MAP_CELL_KEEP_OUT) { c = 255; }
else if (pixin == MapGrid2D::MAP_CELL_ENLARGED_OBSTACLE) { c = 255; }
else if (pixin == MapGrid2D::MAP_CELL_TEMPORARY_OBSTACLE) { c = 255; }
img.at<unsigned char>(x, y) = c;
}
#endif
Expand All @@ -108,7 +109,7 @@ int main( int argc, char** argv)
contours.resize(contours0.size());
for (size_t k = 0; k < contours0.size(); k++)
{
yarp::dev::Map2DArea area;
Map2DArea area;
double accuracy = 4;
approxPolyDP(Mat(contours0[k]), contours[k], accuracy, true);
#if SIMULATION_ONLY
Expand Down
49 changes: 25 additions & 24 deletions src/common/areas/roomsSegmentation2.cpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include <cv.h>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/opencv.hpp>
#include <math.h>
#include <iostream>
#include <yarp/dev/MapGrid2D.h>
Expand All @@ -14,6 +14,7 @@ using namespace cv;
using namespace std;
using namespace yarp::os;
using namespace yarp::dev;
using namespace yarp::dev::Nav2D;

#define FROM_MAPS 1
//#define DRAW_WINDOWS 1
Expand Down Expand Up @@ -59,7 +60,7 @@ int main( int argc, char** argv)

// Perform the distance transform algorithm
cv::Mat dist;
distanceTransform(img, dist, CV_DIST_L2, 3);
distanceTransform(img, dist, DistanceTypes::DIST_L2, 3);
// Normalize the distance image for range = {0.0, 1.0)
normalize(dist, dist, 0, 1., cv::NORM_MINMAX);

Expand All @@ -68,7 +69,7 @@ int main( int argc, char** argv)
imshow( "distNorm", dist );
#endif
// Threshold to obtain the peaks
threshold(dist, dist, .4, 1., CV_THRESH_BINARY);
threshold(dist, dist, .4, 1., ThresholdTypes::THRESH_BINARY);

#ifdef DRAW_WINDOWS
namedWindow( "distThresh", 1 );
Expand All @@ -93,7 +94,7 @@ int main( int argc, char** argv)
// Find the contours
std::vector<std::vector<cv::Point> > cnt;

findContours(dist_8u,cnt,CV_RETR_EXTERNAL,CV_CHAIN_APPROX_NONE);
findContours(dist_8u,cnt, RetrievalModes::RETR_EXTERNAL, ContourApproximationModes::CHAIN_APPROX_NONE);


// Get the moments and mass center (future use)
Expand All @@ -107,8 +108,8 @@ int main( int argc, char** argv)

for( size_t i = 0; i< cnt.size(); i++ )
{
// Draw the forground marker
drawContours(markers, cnt, static_cast<int>(i), cv::Scalar::all(static_cast<int>(i)+1), CV_FILLED);
// Draw the foreground marker
drawContours(markers, cnt, static_cast<int>(i), cv::Scalar::all(static_cast<int>(i)+1), LineTypes::FILLED);

//collect moments and mass center (mc) of each contours. Currently I don't need them, maybe later....
mu[i] = moments( cnt[i], false );
Expand All @@ -124,7 +125,7 @@ int main( int argc, char** argv)
imshow( "Marker1000", markers*10000 );
#endif

cv::cvtColor(img, img, CV_GRAY2RGB);
cv::cvtColor(img, img, ColorConversionCodes::COLOR_GRAY2RGB);

watershed(img, markers);

Expand Down Expand Up @@ -180,8 +181,8 @@ int main( int argc, char** argv)

vector<vector<Point> > contours0;
vector<Vec4i> hierarchy;
//findContours( im_gray, contours0, hierarchy, RETR_TREE, CHAIN_APPROX_SIMPLE);
findContours( im_gray, contours0, RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
//findContours( im_gray, contours0, hierarchy, RETR_TREE, ContourApproximationModes::CHAIN_APPROX_SIMPLE);
findContours( im_gray, contours0, RETR_EXTERNAL, ContourApproximationModes::CHAIN_APPROX_NONE);

Mat drawing0= Mat::zeros( im_gray.size(), CV_8UC1 );

Expand All @@ -204,7 +205,7 @@ int main( int argc, char** argv)
vector<vector<Point> > contours;

//find contours, only external pixels?
findContours( drawingList[i], contours, RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
findContours( drawingList[i], contours, RETR_EXTERNAL, ContourApproximationModes::CHAIN_APPROX_NONE);

//calculate the max area
maxArea[i]=contourArea(contours[0]); //one only contour for i-th room
Expand All @@ -225,7 +226,7 @@ int main( int argc, char** argv)
//contours11.resize(contours[0].size());
contours11.resize(1);

yarp::dev::Map2DArea area;
Map2DArea area;
double accuracy = 3;
approxPolyDP(Mat(contours0[i]), contours11[0], accuracy, true);
#if SIMULATION_ONLY
Expand All @@ -240,7 +241,7 @@ int main( int argc, char** argv)
area.points.push_back(yarp::math::Vec2D<double>(contours[k][kk].x, contours[k][kk].y));
yDebug() << k << " " << kk << " x:" << contours[k][kk].x << " y:" << contours[k][kk].y;
#else
MapGrid2D::XYWorld worldc = the_map.cell2World(MapGrid2D::XYCell(contours11[0][kk].x, contours11[0][kk].y));
XYWorld worldc = the_map.cell2World(XYCell(contours11[0][kk].x, contours11[0][kk].y));
area.points.push_back(yarp::math::Vec2D<double>(worldc.x, worldc.y));
yDebug() << i << " " << kk << " x:" << contours11[0][kk].x << "(" << worldc.x << ") y:" << contours11[0][kk].y << " (" << worldc.y << ")";
#endif
Expand All @@ -254,7 +255,7 @@ int main( int argc, char** argv)
std::string area_name = "auto_area" + to_string(i);
if (m_iMap->storeArea(area_name, area))
{
yInfo() << "Area " << area_name << "succesfully stored into map server";
yInfo() << "Area " << area_name << "successfully stored into map server";
}
else
{
Expand Down Expand Up @@ -310,19 +311,19 @@ static bool getImage(cv::Mat &img, std::string mapname)
size_t w = the_map.width();
size_t h = the_map.height();
yInfo() << "get image of size " << w << h;
img = Mat::zeros(h,w, CV_8UC1);
img = Mat::zeros((int)h, (int)w, CV_8UC1);
for (auto x=0; x<w; x++)
for (auto y = 0; y <h; y++)
{
unsigned char c = 0;
yarp::dev::MapGrid2D::map_flags pixin;
the_map.getMapFlag(yarp::dev::MapGrid2D::XYCell(x, y), pixin);
if (pixin == yarp::dev::MapGrid2D::MAP_CELL_WALL) { c = 0;}
else if (pixin == yarp::dev::MapGrid2D::MAP_CELL_UNKNOWN) { c = 0; }
else if (pixin == yarp::dev::MapGrid2D::MAP_CELL_FREE) { c = 255; }
else if (pixin == yarp::dev::MapGrid2D::MAP_CELL_KEEP_OUT) { c = 255; }
else if (pixin == yarp::dev::MapGrid2D::MAP_CELL_ENLARGED_OBSTACLE) { c = 255; }
else if (pixin == yarp::dev::MapGrid2D::MAP_CELL_TEMPORARY_OBSTACLE) { c = 255; }
MapGrid2D::map_flags pixin;
the_map.getMapFlag(XYCell(x, y), pixin);
if (pixin == MapGrid2D::MAP_CELL_WALL) { c = 0;}
else if (pixin == MapGrid2D::MAP_CELL_UNKNOWN) { c = 0; }
else if (pixin == MapGrid2D::MAP_CELL_FREE) { c = 255; }
else if (pixin == MapGrid2D::MAP_CELL_KEEP_OUT) { c = 255; }
else if (pixin == MapGrid2D::MAP_CELL_ENLARGED_OBSTACLE) { c = 255; }
else if (pixin == MapGrid2D::MAP_CELL_TEMPORARY_OBSTACLE) { c = 255; }
img.at<unsigned char>(y, x) = c;
}

Expand Down

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