diff --git a/include/raspimouse_ros2_examples/camera_line_follower_component.hpp b/include/raspimouse_ros2_examples/camera_line_follower_component.hpp index 262cacd..f8573e3 100644 --- a/include/raspimouse_ros2_examples/camera_line_follower_component.hpp +++ b/include/raspimouse_ros2_examples/camera_line_follower_component.hpp @@ -62,6 +62,7 @@ class Camera_Follower : public rclcpp_lifecycle::LifecycleNode sensor_msgs::msg::Image & msg) const; bool detect_line(const cv::Mat & input_frame, cv::Mat & result_frame); + bool detect_green_object(const cv::Mat & input_frame, cv::Mat & result_frame); rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(const rclcpp_lifecycle::State &); diff --git a/src/camera_line_follower_component.cpp b/src/camera_line_follower_component.cpp index 3067a93..bccf82d 100644 --- a/src/camera_line_follower_component.cpp +++ b/src/camera_line_follower_component.cpp @@ -53,11 +53,17 @@ void Camera_Follower::image_callback(const sensor_msgs::msg::Image::SharedPtr ms cv::Mat frame, result_frame; cv::cvtColor(cv_img->image, frame, CV_RGB2BGR); - if (!frame.empty()) { +if (!frame.empty()) { + // 緑色の物体を検出したら、フラグを操作して走行を止める + if (detect_green_object(frame, result_frame)) { + object_is_detected_ = false; + } else { object_is_detected_ = detect_line(frame, result_frame); - convert_frame_to_message(result_frame, *result_msg); - result_image_pub_->publish(std::move(result_msg)); } + convert_frame_to_message(result_frame, *result_msg); + result_image_pub_->publish(std::move(result_msg)); +} + } void Camera_Follower::callback_switches(const raspimouse_msgs::msg::Switches::SharedPtr msg) @@ -187,6 +193,38 @@ bool Camera_Follower::detect_line(const cv::Mat & input_frame, cv::Mat & result_ } } +bool Camera_Follower::detect_green_object( + const cv::Mat & input_frame, cv::Mat & result_frame) +{ + // 1. 色空間の変換: BGRからHSVへ + cv::Mat hsv_frame; + cv::cvtColor(input_frame, hsv_frame, cv::COLOR_BGR2HSV); + + // 2. 緑色のHSV範囲を定義 + cv::Scalar lower_green_hue_range(40, 100, 100); + cv::Scalar upper_green_hue_range(80, 255, 255); + + // 3. 色に基づくマスクの作成 + cv::Mat green_hue_image; + cv::inRange( + hsv_frame, lower_green_hue_range, upper_green_hue_range, green_hue_image); + // 4. マスクの改善: ノイズの除去 + cv::erode(green_hue_image, green_hue_image, cv::Mat(), cv::Point(-1, -1), 2); + cv::dilate(green_hue_image, green_hue_image, cv::Mat(), cv::Point(-1, -1), 2); + + // 5. 緑色の物体の検出 + std::vector> contours; + cv::findContours( + green_hue_image, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); + + // 6. 結果の出力 + result_frame = green_hue_image; + // 緑色の物体が一つでも検出された場合はtrue + return !contours.empty(); +} + + + CallbackReturn Camera_Follower::on_configure(const rclcpp_lifecycle::State &) { RCLCPP_INFO(this->get_logger(), "on_configure() is called."); pFad - Phonifier reborn

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