[WIP] add info to how to contribute new features

CMakeLists.txt

@@ -65,6 +65,8 @@ generate_dynamic_reconfigure_options(
   cfg/HLSColorFilter.cfg
   cfg/HSVColorFilter.cfg
   cfg/WatershedSegmentation.cfg
+  #
+  cfg/Sample.cfg
   )
 
 ## Generate messages in the 'msg' folder
@@ -342,6 +344,9 @@ endif()
 # https://github.com/opencv/opencv/blob/2.4/samples/cpp/video_homography.cpp
 # https://github.com/opencv/opencv/blob/2.4/samples/cpp/videocapture_pvapi.cpp
 
+# SAMPLE
+opencv_apps_add_nodelet(sample src/nodelet/sample_nodelet.cpp)
+
 add_library(${PROJECT_NAME} SHARED
   src/nodelet/nodelet.cpp
   ${_opencv_apps_nodelet_cppfiles}

CONTRIBUTING.md

@@ -0,0 +1,28 @@
+Contributing to opencv_apps
+===========================
+
+Thanks for getting involved! We always welcome your contributions. The `opencv_apps` is the collection of image processing ROS nodes based on [OpenCV(Open Source Computer Vision Library)](https://github.com/opencv/opencv)
+
+How to contribute
+=================
+
+If you find a missing feature, please find corresponding OpenCV sample program. For example, if you willing to add histogram examples, find [tutorial_code/Histograms_Matching](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/Histograms_Matching).
+Then look for [CMakeLists.txt](https://github.com/ros-perception/opencv_apps/blob/cbafaa05dc32495b9aa6d487cbd411a405ad14bc/CMakeLists.txt#L167) file.
+
+Then add source and cfg file. See [sample_nodelet](https://github.com/ros-perception/opencv_apps/blob/contrib/src/nodelet/sample_nodelet.cpp) and [Sample.cfg](https://github.com/ros-perception/opencv_apps/blob/contrib/cfg/Sample.cfg) for example.
+Please see @TODO section and modify to your contributed node.
+Note that all C++ code is validated by `clang-format` on [TravisCI](https://travis-ci.org/ros-perception/opencv_apps). So run following command before you commit source code.
+```
+find . -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | xargs clang-format-3.9 -i -style=file
+```
+
+Then use `opencv_apps_add_nodelet` macro to add your source code. This magic macro will generate nodelet as well as a standalone executable.
+```
+opencv_apps_add_nodelet(equalize_histogram  src/nodelet/equalize_histogram_nodelet.cpp) # ./tutorial_code/Histograms_Matching/EqualizeHist_Demo.cpp
+```
+
+Nodelet also requires to add your contributed code to [nodelet_plugins.xml](https://github.com/ros-perception/opencv_apps/blob/contrib/nodelet_plugins.xml#L118-L120).
+
+We also require sample launch file and test launch file. See [sample.launch](https://github.com/ros-perception/opencv_apps/blob/contrib/launch/sample.launch) and [Sample.cfg](https://github.com/ros-perception/opencv_apps/blob/contrib/test/test-sample.test) for example. Please see @TODO section and modify to your contributed node.
+
+

cfg/Sample.cfg

@@ -0,0 +1,11 @@
+#!/usr/bin/env python
+
+PACKAGE = "opencv_apps"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", False)
+
+exit(gen.generate(PACKAGE, "sample", "Sample"))

launch/sample.launch

@@ -0,0 +1,19 @@
+<launch>
+  <arg name="node_name" default="sample" /> <!-- @TODO change node name -->
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+  <arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />
+  <!-- @TODO add your parameters here -->
+
+  <!-- sample.cpp  -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="sample" > <!-- @TODO change type name -->
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="queue_size" value="$(arg queue_size)" />
+    <!-- @TODO add your parameters here -->
+  </node>
+</launch>

nodelet_plugins.xml

@@ -115,6 +115,10 @@
     <description>Nodelet to demonstrate the famous watershed segmentation algorithm in OpenCV: watershed()</description>
   </class>
 
+  <class name="opencv_apps/sample" type="opencv_apps::SampleNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet to demonstrate the simple image processing</description>
+  </class>
+
   <!--
       for backward compatibility, can be removed in M-turtle
   -->

src/nodelet/sample_nodelet.cpp

@@ -0,0 +1,237 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) @TODO Please fill your name here
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Kei Okada nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+// @TODO Please add link to original sample program
+/**
+ * This is a demo of @TODO
+ */
+
+#include <ros/ros.h>
+#include "opencv_apps/nodelet.h"
+#include <image_transport/image_transport.h>
+#include <sensor_msgs/image_encodings.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+// @TODO Fill more header files hHere
+#include <dynamic_reconfigure/server.h>
+
+// @TODO Note that please try to use existing opencv_apps/msg. They refrect opencv data classes.
+#include "opencv_apps/Point2DStamped.h"
+
+//
+#include "opencv_apps/SampleConfig.h"
+#include "opencv_apps/nodelet.h"
+
+namespace opencv_apps
+{
+class SampleNodelet : public opencv_apps::Nodelet
+{
+  image_transport::Publisher img_pub_;
+  image_transport::Subscriber img_sub_;
+  image_transport::CameraSubscriber cam_sub_;
+  ros::Publisher msg_pub_;
+
+  boost::shared_ptr<image_transport::ImageTransport> it_;
+
+  typedef opencv_apps::SampleConfig Config;
+  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+  Config config_;
+  boost::shared_ptr<ReconfigureServer> reconfigure_server_;
+
+  int queue_size_;
+  bool debug_view_;
+  ros::Time prev_stamp_;
+
+  std::string window_name_;
+  static bool need_config_update_;
+
+  bool needToInit;
+
+  // @TODO Fill more vairables here
+  static cv::Point2f point_;
+
+  // @TODO Define callback functions as static
+  static void onMouse(int event, int x, int y, int /*flags*/, void* /*param*/)
+  {
+    ROS_INFO("onMouse %d %d %d", event, x, y);  // @TODO static funcion needs ROS_INFO, but others can use NODELET_INFO
+    if (event == CV_EVENT_LBUTTONDOWN)
+    {
+      point_ = cv::Point2f((float)x, (float)y);
+    }
+  }
+
+  void reconfigureCallback(Config& new_config, uint32_t level)
+  {
+    config_ = new_config;
+    // @TODO Fill your code here
+  }
+
+  void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cam_info)
+  {
+    doWork(msg, cam_info->header.frame_id);
+  }
+
+  void imageCallback(const sensor_msgs::ImageConstPtr& msg)
+  {
+    doWork(msg, msg->header.frame_id);
+  }
+
+  void doWork(const sensor_msgs::ImageConstPtr& msg, const std::string& input_frame_from_msg)
+  {
+    // Work on the image.
+    try
+    {
+      // Convert the image into something opencv can handle.
+      cv::Mat image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::BGR8)->image;
+
+      // Messages
+      opencv_apps::Point2DStamped output_msg;
+      output_msg.header = msg->header;
+
+      if (debug_view_)
+      {
+        // Create windows
+        cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);
+
+        // @TODO Create other GUI tools
+        cv::setMouseCallback(window_name_, onMouse, 0);
+
+        if (need_config_update_)
+        {
+          reconfigure_server_->updateConfig(config_);
+          // @TODO Update parameters
+          need_config_update_ = false;
+        }
+      }
+
+      // Do the work
+      if (needToInit)
+      {
+        // @TODO Do initial process
+      }
+
+      // @TODO Do the work
+      output_msg.point.x = point_.x;
+      output_msg.point.y = point_.y;
+
+      needToInit = false;
+      if (debug_view_)
+      {
+        cv::imshow(window_name_, image);
+
+        char c = (char)cv::waitKey(1);
+        // if( c == 27 )
+        //    break;
+        switch (c)
+        {
+          case 'r':
+            needToInit = true;
+            break;
+        }
+      }
+
+      // Publish the image.
+      sensor_msgs::Image::Ptr out_img = cv_bridge::CvImage(msg->header, msg->encoding, image).toImageMsg();
+      img_pub_.publish(out_img);
+      msg_pub_.publish(output_msg);
+    }
+    catch (cv::Exception& e)
+    {
+      NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
+    }
+
+    prev_stamp_ = msg->header.stamp;
+  }
+
+  void subscribe()  // NOLINT(modernize-use-override)
+  {
+    NODELET_DEBUG("Subscribing to image topic.");
+    if (config_.use_camera_info)
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &SampleNodelet::imageCallbackWithInfo, this);
+    else
+      img_sub_ = it_->subscribe("image", queue_size_, &SampleNodelet::imageCallback, this);
+  }
+
+  void unsubscribe()  // NOLINT(modernize-use-override)
+  {
+    NODELET_DEBUG("Unsubscribing from image topic.");
+    img_sub_.shutdown();
+    cam_sub_.shutdown();
+  }
+
+public:
+  virtual void onInit()  // NOLINT(modernize-use-override)
+  {
+    Nodelet::onInit();
+    it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
+
+    pnh_->param("queue_size", queue_size_, 3);
+    pnh_->param("debug_view", debug_view_, false);
+    if (debug_view_)
+    {
+      always_subscribe_ = true;
+    }
+    prev_stamp_ = ros::Time(0, 0);
+
+    window_name_ = "Sample";  // @TODO Add program name
+    needToInit = true;
+
+    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
+    dynamic_reconfigure::Server<Config>::CallbackType f =
+        boost::bind(&SampleNodelet::reconfigureCallback, this, _1, _2);
+    reconfigure_server_->setCallback(f);
+
+    img_pub_ = advertiseImage(*pnh_, "image", 1);
+    msg_pub_ = advertise<opencv_apps::Point2DStamped>(*pnh_, "output", 1);
+    // @TODO add more advertise/services
+
+    NODELET_INFO("Hot keys: ");
+    NODELET_INFO("\tESC - quit the program");
+    NODELET_INFO("\tr - auto-initialize tracking");
+    // @ TODO Add more messages
+
+    onInitPostProcess();
+  }
+};
+bool SampleNodelet::need_config_update_ = false;
+// @TODO static variable must initialized here
+cv::Point2f SampleNodelet::point_ = cv::Point2f(0, 0);
+}  // namespace opencv_apps
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(opencv_apps::SampleNodelet, nodelet::Nodelet);

test/test-sample.test

@@ -0,0 +1,26 @@
+<launch>
+  <arg name="gui" default="true" />
+  <node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
+
+  <group ns="wide_stereo/left" >
+    <node name="image_proc" pkg="image_proc" type="image_proc" />
+    <node name="image_view" pkg="image_view" type="image_view" args="image:=image_rect_color" if="$(arg gui)" />
+
+    <!-- sample.cpp -->
+    <include file="$(find opencv_apps)/launch/sample.launch" >  <!-- @TODO include your launch file -->
+      <arg name="debug_view" value="$(arg gui)" />
+      <arg name="image" value="image_rect_color" />
+    </include>
+
+    <!-- Test Codes -->
+    <node name="sample_saver_result" pkg="image_view" type="image_saver" args="image:=sample/image" > <!-- @TODO change node name -->
+      <param name="filename_format" value="$(find opencv_apps)/test/sample_result.png"/>  <!-- @TODO change file name -->
+    </node>
+    <param name="sample_test/topic" value="sample/output" />     <!-- @TODO topic name to check -->
+    <test test-name="sample_test" pkg="rostest" type="hztest" name="sample_test" >  <!-- @TODO change test name -->
+      <param name="hz" value="20" />
+      <param name="hzerror" value="15" />
+      <param name="test_duration" value="5.0" />
+    </test>
+  </group>
+</launch>