Merge pull request #5 from vortexntnu/refactor-and-otsu-filter

otsu filter and refactor

Author: jorgenfj

image-filtering/CMakeLists.txt

@@ -1,7 +1,6 @@
 cmake_minimum_required(VERSION 3.8)
 project(image_filtering)
 
-# === C++ standard ===
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 20)
 endif()
@@ -10,13 +9,14 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(OpenCV 4.5.4 REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(cv_bridge REQUIRED)
+find_package(spdlog REQUIRED)
+find_package(fmt REQUIRED)
 
 include_directories(include)
 
@@ -42,11 +42,13 @@ ament_target_dependencies(${LIB_NAME} PUBLIC
   rclcpp_components
   cv_bridge
   sensor_msgs
+  spdlog
+  fmt
 )
 
 rclcpp_components_register_node(
     ${LIB_NAME}
-    PLUGIN "vortex::image_processing::ImageFilteringNode"
+    PLUGIN "ImageFilteringNode"
     EXECUTABLE ${PROJECT_NAME}_node
 )
 
@@ -67,12 +69,8 @@ install(
 
 install(DIRECTORY
   launch
-  params
+  config
   DESTINATION share/${PROJECT_NAME}/
 )
 
-if(BUILD_TESTING)
-    add_subdirectory(test)
-endif()
-
 ament_package()

image-filtering/config/image_filtering_params.yaml

@@ -0,0 +1,33 @@
+/**:
+  ros__parameters:
+    sub_topic: "/downwards_camera/image_raw"
+    pub_topic: "/filtered_image"
+    output_encoding: "mono8"
+    filter_params:
+      filter_type: "otsu"
+      flip:
+        flip_code: 1
+      unsharpening:
+        blur_size: 8
+      erosion:
+        size: 1
+      dilation:
+        size: 1
+      white_balancing:
+        contrast_percentage: 0.1
+      ebus:
+        erosion_size: 2
+        blur_size: 30
+        mask_weight: 5
+      otsu:
+        gsc_weight_r: 1.0  # Grayscale red weight
+        gsc_weight_g: 0.0  # Grayscale green weight
+        gsc_weight_b: 0.0   # Grayscale blue weight
+        gamma_auto_correction: true
+        gamma_auto_correction_weight: 4.0
+        otsu_segmentation: true
+        erosion_size: 10
+        dilation_size: 10
+
+# Filter params should reflect the FilterParams struct
+# defined in /include/image_filters/image_processing.hpp

image-filtering/include/image_filters/image_filtering_ros.hpp

@@ -2,13 +2,13 @@
 #define IMAGE_FILTERING_ROS_HPP
 
 #include <cv_bridge/cv_bridge.h>
+#include <spdlog/spdlog.h>
 #include <rclcpp/parameter_event_handler.hpp>
 #include <rclcpp/qos.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include "image_processing.hpp"
 
-namespace vortex::image_processing {
 class ImageFilteringNode : public rclcpp::Node {
    public:
     explicit ImageFilteringNode(const rclcpp::NodeOptions& options);
@@ -103,6 +103,4 @@ class ImageFilteringNode : public rclcpp::Node {
     std::string filter_;
 };
 
-}  // namespace vortex::image_processing
-
 #endif  // IMAGE_FILTERING_ROS_HPP

image-filtering/include/image_filters/image_processing.hpp

@@ -3,14 +3,13 @@
 
 #include <iostream>
 #include <map>
+#include <numeric>
 #include <opencv2/core.hpp>
 #include <opencv2/highgui.hpp>
 #include <opencv2/imgcodecs.hpp>
 #include <opencv2/imgproc.hpp>
 #include <opencv2/xphoto.hpp>
 
-namespace vortex::image_processing {
-
 struct FlipParams {
     int flip_code;
 };
@@ -36,13 +35,25 @@ struct EbusParams {
     int mask_weight;
 };
 
+struct OtsuParams {
+    bool gamma_auto_correction;
+    double gamma_auto_correction_weight;
+    bool otsu_segmentation;
+    double gsc_weight_r;
+    double gsc_weight_g;
+    double gsc_weight_b;
+    int erosion_size;
+    int dilation_size;
+};
+
 struct FilterParams {
     FlipParams flip;
     UnsharpeningParams unsharpening;
     ErodingParams eroding;
     DilatingParams dilating;
     WhiteBalancingParams white_balancing;
     EbusParams ebus;
+    OtsuParams otsu;
 };
 
 typedef void (*FilterFunction)(const FilterParams&, const cv::Mat&, cv::Mat&);
@@ -87,14 +98,14 @@ void unsharpening_filter(const FilterParams& params,
 /**
  * Expands the dark areas of the image
  */
-void eroding_filter(const FilterParams& params,
+void erosion_filter(const FilterParams& params,
                     const cv::Mat& original,
                     cv::Mat& modified);
 
 /**
  * Expands the bright areas of the image
  */
-void dilating_filter(const FilterParams& params,
+void dilation_filter(const FilterParams& params,
                      const cv::Mat& original,
                      cv::Mat& modified);
 
@@ -113,15 +124,22 @@ void ebus_filter(const FilterParams& params,
                  const cv::Mat& original,
                  cv::Mat& filtered);
 
+/**
+ * A filter based on Otsu's method
+ */
+void otsu_segmentation_filter(const FilterParams& params,
+                              const cv::Mat& original,
+                              cv::Mat& output);
+
 const static std::map<std::string, FilterFunction> filter_functions = {
     {"no_filter", no_filter},
     {"flip", flip_filter},
     {"sharpening", sharpening_filter},
     {"unsharpening", unsharpening_filter},
-    {"eroding", eroding_filter},
-    {"dilating", dilating_filter},
+    {"erosion", erosion_filter},
+    {"dilation", dilation_filter},
     {"white_balancing", white_balance_filter},
-    {"ebus", ebus_filter}};
+    {"ebus", ebus_filter},
+    {"otsu", otsu_segmentation_filter}};
 
-}  // namespace vortex::image_processing
 #endif  // IMAGE_PROCESSING_HPP

…ltering/launch/image_filtering_launch.py …ltering/launch/image_filtering.launch.pyimage-filtering/launch/image_filtering_launch.py renamed to image-filtering/launch/image_filtering.launch.py image-filtering/launch/image_filtering_launch.py renamed to image-filtering/launch/image_filtering.launch.py

@@ -13,7 +13,7 @@ def generate_launch_description():
         parameters=[
             os.path.join(
                 get_package_share_directory('image_filtering'),
-                'params',
+                'config',
                 'image_filtering_params.yaml',
             )
         ],

image-filtering/package.xml

@@ -15,7 +15,6 @@
   <depend>rclcpp_components</depend>
   <depend>cv_bridge</depend>
   <depend>sensor_msgs</depend>
-  <depend>image_transport</depend>
   <depend>rclcpp</depend>
 
   <export>