def __init__(self):
self.node_name = rospy.get_name()
self.active = True
self.image_pub_switch = rospy.get_param("~publish_corrected_image",False)
# Initialize publishers and subscribers
self.pub_image = rospy.Publisher("~corrected_image",Image,queue_size=1)
self.pub_health = rospy.Publisher("~health",AntiInstagramHealth,queue_size=1,latch=True)
self.pub_transform = rospy.Publisher("~transform",AntiInstagramTransform,queue_size=1,latch=True)
#self.sub_switch = rospy.Subscriber("~switch",BoolStamped, self.cbSwitch, queue_size=1)
#self.sub_image = rospy.Subscriber("~uncorrected_image",Image,self.cbNewImage,queue_size=1)
self.sub_image = rospy.Subscriber("~uncorrected_image", CompressedImage, self.cbNewImage,queue_size=1)
self.sub_click = rospy.Subscriber("~click", BoolStamped, self.cbClick, queue_size=1)
# Verbose option
self.verbose = rospy.get_param('~verbose',True)
# Initialize health message
self.health = AntiInstagramHealth()
# Initialize transform message
self.transform = AntiInstagramTransform()
# FIXME: read default from configuration and publish it
self.ai = AntiInstagram()
self.corrected_image = Image()
self.bridge = CvBridge()
self.image_msg = None
self.click_on = False
def test_anti_instagram(self):
ai = AntiInstagram()
#### TEST SINGLE TRANSFORM ####
error_threshold = 500
# load test images
failure = False
imagesetf = [
"inputimage0.jpg",
"inputimage1.jpg",
]
gtimagesetf = [
"groundtruthimage0.jpg",
"groundtruthimage1.jpg",
]
package_root = get_rospkg_root('anti_instagram')
def add_dir(x):
return os.path.join(package_root, 'scripts', x)
imagesetf = map(add_dir, imagesetf)
gtimagesetf = map(add_dir, gtimagesetf)
imageset = map(load_image, imagesetf)
gtimageset = map(load_image, gtimagesetf)
errors = self.correctImages(ai, imageset, gtimageset, error_threshold)
logger.info("Test Image Errors: %s" % errors)
self.assertLess(max(errors), error_threshold)
def __init__(self):
self.node_name = rospy.get_name()
self.image_lock = threading.Lock()
self.ai = AntiInstagram()
# XXX: read parameters
# XXX: parameters need to go inside config file, ask aleks about heirarchy
self.interval = self.setup_parameter("~ai_interval", 10)
self.color_balance_percentage = self.setup_parameter(
"~cb_percentage", 0.8) # XXX: change in all launch files
self.output_scale = self.setup_parameter(
"~scale_percent", 0.4) # XXX: change in all launch files
self.calculation_scale = self.setup_parameter("~resize", 0.2)
self.bridge = CvBridge()
self.image = None
rospy.Timer(rospy.Duration(self.interval),
self.calculate_new_parameters)
self.uncorrected_image_subscriber = rospy.Subscriber(
'~uncorrected_image/compressed',
CompressedImage,
self.process_image,
buff_size=921600,
queue_size=1)
self.corrected_image_publisher = rospy.Publisher(
"~corrected_image/compressed", CompressedImage, queue_size=1)
def __init__(self):
self.node_name = "LineDetectorNode"
self.bw_1 = 0
self.bw_2 = 0
# Thread lock
self.thread_lock = threading.Lock()
# Constructor of line detector
self.bridge = CvBridge()
self.active = True
self.stats = Stats()
# Only be verbose every 10 cycles
self.intermittent_interval = 100
self.intermittent_counter = 0
# color correction
self.ai = AntiInstagram()
# these will be added if it becomes verbose
self.pub_edge = None
self.pub_colorSegment = None
self.detector = None
self.verbose = None
self.updateParams(None)
# Publishers
self.pub_lines = rospy.Publisher("~segment_list",
SegmentList,
queue_size=1)
self.pub_image = rospy.Publisher("~image_with_lines",
Image,
queue_size=1)
# Subscribers
self.sub_image = rospy.Subscriber("~image",
CompressedImage,
self.cbImage,
queue_size=1)
self.sub_transform = rospy.Subscriber("~transform",
AntiInstagramTransform,
self.cbTransform,
queue_size=1)
self.sub_switch = rospy.Subscriber("~switch",
BoolStamped,
self.cbSwitch,
queue_size=1)
rospy.loginfo("[%s] Initialized (verbose = %s)." %
(self.node_name, self.verbose))
rospy.Timer(rospy.Duration.from_sec(2.0), self.updateParams)
def __init__(self):
self.node_name = rospy.get_name()
self.active = True
self.locked = False
self.image_pub_switch = rospy.get_param("~publish_corrected_image",
False)
# Initialize publishers and subscribers
self.pub_image = rospy.Publisher("~corrected_image",
Image,
queue_size=1)
self.pub_health = rospy.Publisher("~health",
AntiInstagramHealth,
queue_size=1,
latch=True)
self.pub_transform = rospy.Publisher("~transform",
AntiInstagramTransform,
queue_size=1,
latch=True)
#self.sub_switch = rospy.Subscriber("~switch",BoolStamped, self.cbSwitch, queue_size=1)
#self.sub_image = rospy.Subscriber("~uncorrected_image",Image,self.cbNewImage,queue_size=1)
self.sub_image = rospy.Subscriber("~uncorrected_image",
CompressedImage,
self.cbNewImage,
queue_size=1)
self.sub_click = rospy.Subscriber("~click",
BoolStamped,
self.cbClick,
queue_size=1)
self.trans_timer = rospy.Timer(rospy.Duration.from_sec(20),
self.cbPubTrans, True)
# Verbose option
self.verbose = rospy.get_param('line_detector_node/verbose', True)
# Initialize health message
self.health = AntiInstagramHealth()
# Initialize transform message
self.transform = AntiInstagramTransform()
# FIXME: read default from configuration and publish it
self.ai_scale = np.array(
[2.2728408473337893, 2.2728273205024614, 2.272844346401005])
self.ai_shift = np.array(
[21.47181119272393, 37.14653160247276, 4.089311860796786])
self.ai = AntiInstagram()
self.corrected_image = Image()
self.bridge = CvBridge()
self.image_msg = None
self.click_on = False
def __init__(self):
EasyNode.__init__(self, "line_detector2", "line_detector_node2")
self.detector = None
self.bridge = CvBridge()
self.ai = AntiInstagram()
self.active = True
# Only be verbose every 10 cycles
self.intermittent_interval = 100
self.intermittent_counter = 0
def __init__(self):
self.node_name = "Line Detector2"
# Thread lock
self.thread_lock = threading.Lock()
# Constructor of line detector
self.bridge = CvBridge()
self.detector = LineDetector2()
# Parameters
self.active = True
self.intermittent_interval = 100
self.intermittent_counter = 0
self.updateParams(None)
# color correction
self.ai = AntiInstagram()
# Publishers
self.pub_lines = rospy.Publisher("~segment_list",
SegmentList,
queue_size=1)
self.pub_image = rospy.Publisher("~image_with_lines",
Image,
queue_size=1)
# Verbose option
if self.verbose:
self.pub_edge = rospy.Publisher("~edge", Image, queue_size=1)
self.pub_colorSegment = rospy.Publisher("~segment",
Image,
queue_size=1)
# Subscribers
self.sub_image = rospy.Subscriber("~image",
CompressedImage,
self.cbImage,
queue_size=1)
self.sub_transform = rospy.Subscriber("~transform",
AntiInstagramTransform,
self.cbTransform,
queue_size=1)
self.sub_switch = rospy.Subscriber("~switch",
BoolStamped,
self.cbSwitch,
queue_size=1)
rospy.loginfo("[%s] Initialized." % (self.node_name))
self.timer = rospy.Timer(rospy.Duration.from_sec(1.0),
self.updateParams)
def setup():
img = random_image(Params.shape[0], Params.shape[1])
ai = AntiInstagram()
return ai, img
def main():
# check number of arguments
if len(sys.argv) != 3:
print(
'This program expects exactly two arguments: an image filename and an output directory.'
)
sys.exit()
# store inputs
file = sys.argv[1]
outdir = sys.argv[2]
# check if file exists
if not os.path.isfile(file):
print('file not found')
sys.exit(2)
# check if dir exists, create if not
if not os.path.exists(outdir):
os.makedirs(outdir)
# read the image
input_img = cv2.imread(file, cv2.IMREAD_UNCHANGED)
# lets do the masking!
surf = identifyLaneSurface(input_img, use_hsv=False, grad_thresh=20)
input_img = np.expand_dims(surf, -1) * input_img
print('masked image!')
cv2.imshow('mask', input_img)
cv2.waitKey(0)
# create instance of AntiInstagram
ai = AntiInstagram()
ai.calculateTransform(input_img)
print('Transform Calculation completed!')
corrected_img = ai.applyTransform(input_img)
print('Transform applied!')
cv2.imshow('mask', corrected_img)
cv2.waitKey(0)
# polygons for pic1_smaller.jpg and pic2_smaller.jpg (hardcoded for now)
polygon_black = [(280, 570), (220, 760), (870, 750), (810, 580)]
polygon_white = [(781, 431), (975, 660), (1040, 633), (827, 418)]
polygon_yellow = [(131, 523), (67, 597), (99, 609), (161, 530)]
polygon_red = [(432, 282), (418, 337), (577, 338), (568, 283)]
"""
# polygons for pic3_smaller.jpg and pic2_smaller.jpg (hardcoded for now)
polygon_black = [(280, 570), (220, 760), (870, 750), (810, 580)]
polygon_white = [(900, 520), (1000, 640), (1060, 620), (970, 515)]
polygon_yellow = [(234, 430), (190, 485), (230, 490), (270, 430)]
polygon_red = [(285, 435), (250, 490), (830, 480), (800, 437)]
# polygons for pic4_smaller.jpg (hardcoded for now)
polygon_black = [(316, 414), (215, 623), (783, 605), (673, 422)]
polygon_white = [(710, 388), (947, 656), (1018, 620), (788, 400)]
polygon_yellow = [(148, 474), (94, 537), (133, 542), (184, 475)]
polygon_red = [(285, 435), (250, 490), (830, 480), (800, 437)]
# polygons for pic5_smaller.jpg (hardcoded for now)
polygon_black = [(354, 418), (291, 612), (804, 590), (677, 396)]
polygon_white = [(783, 424), (949, 602), (1002, 564), (840, 420)]
polygon_yellow = [(344, 307), (331, 319), (354, 319), (366, 306)]
polygon_red = [(135, 325), (119, 332), (325, 316), (332, 309)]
"""
# create dictionary containing colors
polygons = {
'black': polygon_black,
'white': polygon_white,
'yellow': polygon_yellow,
'red': polygon_red
}
# initialize estimateError class
E = estimateError(corrected_img)
# set polygons
E.createPolygon(polygons)
# estimate error
E.GetErrorEstimation()
# write the corrected image
date = datetime.datetime.now().strftime("%H-%M-%S")
path = outdir + '/' + str(date) + '_polygon.jpg'
cv2.imwrite(path, E.out_image)
# check if dir exists, create if not
if not os.path.exists(outdir):
os.makedirs(outdir)
# read the image
input_img = cv2.imread(file, cv2.IMREAD_UNCHANGED)
#lets do the masking!
#surf = identifyLaneSurface(input_img, use_hsv=False, grad_thresh=20)
#input_img = np.expand_dims(surf, -1) * input_img
#cv2.imshow('mask', input_img)
#cv2.waitKey(0)
# create instance of AntiInstagram
ai = AntiInstagram()
ai.calculateTransform(input_img)
print('Transform Calculation completed!')
corrected_img = ai.applyTransform(input_img)
print('Transform applied!')
# write the corrected image
date = datetime.datetime.now().strftime("%H-%M-%S")
path = outdir + '/' + str(date) + '_corrected.jpg'
cv2.imwrite(path, corrected_img)