[Enhancement] - Refactor Ninshiki

CMakeLists.txt

@@ -29,6 +29,7 @@ add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/node/ninshiki_cpp_node.cpp"
   "src/${PROJECT_NAME}/utils/color.cpp"
   "src/${PROJECT_NAME}/utils/contours.cpp"
+  "src/${PROJECT_NAME}/utils/circle.cpp"
   "src/${PROJECT_NAME}/node/ninshiki_cpp_node.cpp"
   "src/${PROJECT_NAME}/utils/utils.cpp")
 

include/ninshiki_cpp/node/ninshiki_cpp_node.hpp

@@ -65,7 +65,7 @@ class NinshikiCppNode
   rclcpp::TimerBase::SharedPtr node_timer;
 
   rclcpp::Publisher<DetectedObjects>::SharedPtr detected_object_publisher;
-  rclcpp::Publisher<Contours>::SharedPtr field_segmentation_publisher;
+  rclcpp::Publisher<Contours>::SharedPtr color_segmentation_publisher;
   rclcpp::Subscription<Image>::SharedPtr image_subscriber;
 
   std::shared_ptr<DnnDetector> dnn_detection;

include/ninshiki_cpp/utils/circle.hpp

@@ -0,0 +1,49 @@
+// Copyright (c) 2021 ICHIRO ITS
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#ifndef NINSHIKI_CPP__UTILS__CIRCLE_HPP_
+#define NINSHIKI_CPP__UTILS__CIRCLE_HPP_
+
+#include <opencv2/opencv.hpp>
+#include <vector>
+
+namespace ninshiki_cpp::utils
+{
+
+class Circle
+{
+private:
+
+    cv::Point2f center;
+    float radius;
+
+public:
+
+    Circle(const std::vector<cv::Point> & contour);
+
+    void draw(cv::Mat & image, int line_size) const;
+
+    const cv::Point2f & get_center() const;
+    const float get_radius() const;
+};
+
+}  // namespace ninshiki_cpp::utils
+
+#endif // NINSHIKI_CPP__UTILS__CIRCLE_HPP_

src/ninshiki_cpp/node/ninshiki_cpp_node.cpp

@@ -36,7 +36,7 @@ NinshikiCppNode::NinshikiCppNode(
 {
   detected_object_publisher = node->create_publisher<DetectedObjects>(
     get_node_prefix() + "/dnn_detection", 10);
-  field_segmentation_publisher = node->create_publisher<Contours>(
+  color_segmentation_publisher = node->create_publisher<Contours>(
     get_node_prefix() + "/color_detection", 10);
 
   image_subscriber =
@@ -63,7 +63,7 @@ void NinshikiCppNode::publish()
   detected_object_publisher->publish(dnn_detection->detection_result);
 
   color_detection->detection(hsv_frame);
-  field_segmentation_publisher->publish(color_detection->detection_result);
+  color_segmentation_publisher->publish(color_detection->detection_result);
 
   lbp_detection->detection(received_frame);
   detected_object_publisher->publish(lbp_detection->detection_result);

src/ninshiki_cpp/utils/circle.cpp

@@ -0,0 +1,47 @@
+// Copyright (c) 2021 ICHIRO ITS
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#include "ninshiki_cpp/utils/circle.hpp"
+
+namespace ninshiki_cpp::utils
+{
+
+Circle::Circle(const std::vector<cv::Point> & contour)
+: center(cv::Point2f(-1, -1)), radius(0.0)
+{
+    cv::minEnclosingCircle(contour, center, radius);
+}
+
+void Circle::draw(cv::Mat & image, int line_size) const
+{
+    cv::circle(image, center, radius, cv::Scalar(0, 255, 238), line_size);
+}
+
+const cv::Point2f & Circle::get_center() const
+{
+    return center;
+}
+
+const float Circle::get_radius() const
+{
+    return radius;
+}
+
+} // namespace ninshiki_cpp::utils