update

cfg/BlobDetection.cfg

@@ -72,12 +72,12 @@ gen.add("minInertiaRatio", double_t, 0, "minInertiaRatio", 0, 0, 1)
 gen.add("maxInertiaRatio", double_t, 0, "maxInertiaRatio", 1, 0, 1)
 
 
-blobMsgType = gen.enum([ gen.const("Blob", str_t, "Blob", "Blob"),
-                       gen.const("BlobArray", str_t, "BlobArray", "BlobArray"),
-                       gen.const("BlobArrayStamped", str_t, "BlobArrayStamped", "BlobArrayStamped")],
-                     "An enum to set blobMsgType")
+morphology_ex_type = gen.enum([ gen.const("off", str_t, "off", "off"),
+                       gen.const("opening", str_t, "opening", "opening"),
+                       gen.const("closing", str_t, "closing", "closing")],
+                     "An enum to set morphology_ex_type")
 
-gen.add("blobMsgType", str_t, 0, "blobMsgType edited via an enum", "Blob", edit_method=blobMsgType)
+gen.add("morphology_ex_type", str_t, 0, "morphology_ex_type edited via an enum", "off", edit_method=morphology_ex_type)
 
 # debug_view_type_enum = gen.enum([ gen.const("Input", int_t, 0, "Input image"),
 #                                   gen.const("Blur", int_t, 1, "GaussianBlur image"),

config/blob_detection.rviz

@@ -0,0 +1,161 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 172
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Image1
+        - /Image2
+        - /Image3
+      Splitter Ratio: 0.5
+    Tree Height: 848
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /blob_detection/image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /blob_detection/thresholded_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /blob_detection/morphology_ex_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1472
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000026b00000482fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b000000da00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000dafb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000008600000482000001de00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006503000004b7000003880000026b000001d6fb0000000a0049006d00610067006503000005cf000002400000026b000000e200000001000001b400000482fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000086000004820000017800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000097a000000a9fc0100000002fb0000000a0049006d00610067006503000003ce0000016600000280000001e0fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000097a00000073fc0100000002fb0000000800540069006d006501000000000000097a000006de00fffffffb0000000800540069006d006501000000000000045000000000000000000000053d0000048200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2426
+  X: 134
+  Y: 68

config/blob_detection_config.yaml

@@ -0,0 +1,69 @@
+blobColor: 255
+debug_view: false
+filterByArea: true
+filterByCircularity: true
+filterByColor: true
+filterByConvexity: true
+filterByInertia: true
+highHue: 179.0
+highSat: 255.0
+highVal: 255.0
+image:
+  compressed:
+    format: jpeg
+    jpeg_quality: 80
+    png_level: 9
+  compressedDepth:
+    depth_max: 10.0
+    depth_quantization: 100.0
+    png_level: 9
+  theora:
+    keyframe_frequency: 64
+    optimize_for: 1
+    quality: 31
+    target_bitrate: 800000
+lowHue: 80.55000000000001
+lowSat: 0.0
+lowVal: 0.0
+maxArea: 9000000
+maxCircularity: 1.0
+maxConvexity: 1.0
+maxInertiaRatio: 1.0
+minArea: 5000
+minCircularity: 0.0
+minConvexity: 0.0
+minDistBetweenBlobs: 100
+minInertiaRatio: 0.0
+morphology_ex_image:
+  compressed:
+    format: jpeg
+    jpeg_quality: 80
+    png_level: 9
+  compressedDepth:
+    depth_max: 10.0
+    depth_quantization: 100.0
+    png_level: 9
+  theora:
+    keyframe_frequency: 64
+    optimize_for: 1
+    quality: 31
+    target_bitrate: 800000
+morphology_ex_kernel_size: 16
+morphology_ex_type: opening
+num_worker_threads: 1
+queue_size: 3
+thresholded_image:
+  compressed:
+    format: jpeg
+    jpeg_quality: 80
+    png_level: 9
+  compressedDepth:
+    depth_max: 10.0
+    depth_quantization: 100.0
+    png_level: 9
+  theora:
+    keyframe_frequency: 64
+    optimize_for: 1
+    quality: 31
+    target_bitrate: 800000
+use_camera_info: false

launch/blob_detection.launch

@@ -7,6 +7,8 @@
   <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show debug image" />
   <arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />
 
+  <arg name="morphology_ex_type" default="off" doc="off opening closing Specigy queue_size of input image subscribers" />
+  <arg name="morphology_ex_kernel_size" default="3" doc="opening closing Specigy queue_size of input image subscribers" />
   <!-- <arg name="opening" default="true" doc="Morphological Transformations erosion followed by dilation." />
   <arg name="closing" default="false" doc="Morphological Transformations Dilation followed by Erosion." /> -->
 
@@ -27,6 +29,8 @@
     <param name="debug_view" value="$(arg debug_view)" />
     <param name="queue_size" value="$(arg queue_size)" />
 
+    <param name="morphology_ex_type" value="$(arg morphology_ex_type)" />
+    <param name="morphology_ex_kernel_size" value="$(arg morphology_ex_kernel_size)" />
     <!-- <param name="opening" value="$(arg opening)" />
     <param name="closing" value="$(arg closing)" /> -->
     <!-- <param name="canny_threshold" value="$(arg canny_threshold)" />

launch/blob_detection_ims.launch

@@ -0,0 +1,104 @@
+<launch>
+  <arg name="node_name" default="blob_detection" />
+
+  <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 debug image" />
+  <arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />
+
+  <arg name="morphology_ex_type" default="off" doc="off opening closing Specigy queue_size of input image subscribers" />
+  <arg name="morphology_ex_kernel_size" default="3" doc="opening closing Specigy queue_size of input image subscribers" />
+  <!-- <arg name="running_mode" default="opencv_debug" doc="opencv_debug ros_dynamic_debug no_debug_view" /> -->
+  <arg name="running_mode" default="ros_dynamic_debug" doc="opencv_debug ros_dynamic_debug no_debug_view" />
+  <!-- <arg name="running_mode" default="no_debug_view" doc="opencv_debug ros_dynamic_debug no_debug_view" /> -->
+  <!-- <arg name="opening" default="true" doc="Morphological Transformations erosion followed by dilation." />
+  <arg name="closing" default="false" doc="Morphological Transformations Dilation followed by Erosion." /> -->
+
+  <!-- 
+  <arg name="lowHue" default="0" doc="lowHue." />
+  <arg name="highHue" default="179" doc="highHue" />
+  <arg name="lowSat" default="0" doc="lowSat" />
+  <arg name="highSat" default="255" doc="highSat" />
+  <arg name="lowVal" default="0" doc="lowVal" />
+  <arg name="highVal" default="255" doc="highVal" />
+  <arg name="max_circle_radius" default="0" doc="The maximum size of the circle, If unknown, put zero as default." /> -->
+<group if="$(eval running_mode == 'opencv_debug')">
+    <!-- stuff that will only be evaluated if foo is true -->
+
+  <!-- blob_detection.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="blob_detection" output="screen">
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="true" />
+    <param name="queue_size" value="$(arg queue_size)" />
+
+    <param name="morphology_ex_type" value="$(arg morphology_ex_type)" />
+    <param name="morphology_ex_kernel_size" value="$(arg morphology_ex_kernel_size)" />
+    <!-- <param name="opening" value="$(arg opening)" />
+    <param name="closing" value="$(arg closing)" /> -->
+    <!-- <param name="canny_threshold" value="$(arg canny_threshold)" />
+    <param name="accumulator_threshold" value="$(arg accumulator_threshold)" />
+    <param name="gaussian_blur_size" value="$(arg gaussian_blur_size)" />
+    <param name="gaussian_sigma_x" value="$(arg gaussian_sigma_x)" />
+    <param name="gaussian_sigma_y" value="$(arg gaussian_sigma_y)" />
+    <param name="dp" value="$(arg dp)" />
+    <param name="min_circle_radius" value="$(arg min_circle_radius)" />
+    <param name="max_circle_radius" value="$(arg max_circle_radius)" /> -->
+  </node>
+
+</group>
+
+<group if="$(eval running_mode == 'ros_dynamic_debug')">
+
+<!-- blob_detection.cpp -->
+<node name="$(arg node_name)" pkg="opencv_apps" type="blob_detection" output="screen">
+  <remap from="image" to="$(arg image)" />
+  <param name="use_camera_info" value="$(arg use_camera_info)" />
+  <param name="debug_view" value="false" />
+  <param name="queue_size" value="$(arg queue_size)" />
+
+  <param name="morphology_ex_type" value="$(arg morphology_ex_type)" />
+  <param name="morphology_ex_kernel_size" value="$(arg morphology_ex_kernel_size)" />
+  <!-- <param name="opening" value="$(arg opening)" />
+  <param name="closing" value="$(arg closing)" /> -->
+  <!-- <param name="canny_threshold" value="$(arg canny_threshold)" />
+  <param name="accumulator_threshold" value="$(arg accumulator_threshold)" />
+  <param name="gaussian_blur_size" value="$(arg gaussian_blur_size)" />
+  <param name="gaussian_sigma_x" value="$(arg gaussian_sigma_x)" />
+  <param name="gaussian_sigma_y" value="$(arg gaussian_sigma_y)" />
+  <param name="dp" value="$(arg dp)" />
+  <param name="min_circle_radius" value="$(arg min_circle_radius)" />
+  <param name="max_circle_radius" value="$(arg max_circle_radius)" /> -->
+</node>
+<node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />
+<node name="rviz" pkg="rviz" type="rviz" args="-d $(find opencv_apps)/config/blob_detection.rviz"/>
+
+</group>
+
+<group if="$(eval running_mode == 'no_debug_view')">
+
+  <!-- blob_detection.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="blob_detection" output="screen">
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="false" />
+    <param name="queue_size" value="$(arg queue_size)" />
+
+    <!-- <rosparam file="$(find opencv_apps)/config/blob_detection.yaml" /> -->
+    <rosparam file="$(find opencv_apps)/config/blob_detection_config.yaml" />
+
+    <!-- <param name="opening" value="$(arg opening)" />
+    <param name="closing" value="$(arg closing)" /> -->
+    <!-- <param name="canny_threshold" value="$(arg canny_threshold)" />
+    <param name="accumulator_threshold" value="$(arg accumulator_threshold)" />
+    <param name="gaussian_blur_size" value="$(arg gaussian_blur_size)" />
+    <param name="gaussian_sigma_x" value="$(arg gaussian_sigma_x)" />
+    <param name="gaussian_sigma_y" value="$(arg gaussian_sigma_y)" />
+    <param name="dp" value="$(arg dp)" />
+    <param name="min_circle_radius" value="$(arg min_circle_radius)" />
+    <param name="max_circle_radius" value="$(arg max_circle_radius)" /> -->
+  </node>
+  </group>
+
+</launch>

param/blob_detectio_testn.yaml

@@ -0,0 +1,55 @@
+blobColor: 255
+blobMsgType: Blob
+debug_view: false
+filterByArea: true
+filterByCircularity: true
+filterByColor: true
+filterByConvexity: true
+filterByInertia: true
+highHue: 179.0
+highSat: 255.0
+highVal: 255.0
+image:
+  compressed:
+    format: jpeg
+    jpeg_quality: 80
+    png_level: 9
+  compressedDepth:
+    depth_max: 10.0
+    depth_quantization: 100.0
+    png_level: 9
+  theora:
+    keyframe_frequency: 64
+    optimize_for: 1
+    quality: 31
+    target_bitrate: 800000
+lowHue: 161.10000000000002
+lowSat: 0.0
+lowVal: 0.0
+maxArea: 9000000
+maxCircularity: 1.0
+maxConvexity: 1.0
+maxInertiaRatio: 1.0
+minArea: 5000
+minCircularity: 0.0
+minConvexity: 0.0
+minDistBetweenBlobs: 100
+minInertiaRatio: 0.0
+morphology_ex_kernel_size: 3
+num_worker_threads: 1
+queue_size: 3
+thresholded_image:
+  compressed:
+    format: jpeg
+    jpeg_quality: 80
+    png_level: 9
+  compressedDepth:
+    depth_max: 10.0
+    depth_quantization: 100.0
+    png_level: 9
+  theora:
+    keyframe_frequency: 64
+    optimize_for: 1
+    quality: 31
+    target_bitrate: 800000
+use_camera_info: false

src/nodelet/blob_detection_nodelet.cpp

@@ -68,6 +68,9 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
 {
   image_transport::Publisher img_pub_;
   image_transport::Publisher thresholded_img_pub_;
+  image_transport::Publisher thresholded_img_with_mask_pub_;
+  image_transport::Publisher morphology_ex_img_pub_;
+
   image_transport::Subscriber img_sub_;
   image_transport::CameraSubscriber cam_sub_;
   ros::Publisher msg_pub_;
@@ -83,7 +86,7 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
   bool debug_view_;
   ros::Time prev_stamp_;
 
-  std::string window_name_, thresholded_image_name_, thresholded_image_with_mask_name_, blob_detector_params_name_, opening_image_name_, closing_image_name_; // reference to camshift_nodelet
+  std::string window_name_, thresholded_image_name_, thresholded_image_with_mask_name_, blob_detector_params_name_, morphology_ex_image_name_; // reference to camshift_nodelet
   static bool need_config_update_;
 
   cv::SimpleBlobDetector::Params params_; //
@@ -104,6 +107,9 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
   int highVal;
 
   std::string morphology_ex_type_;
+  std::string prev_morphology_ex_type_;
+  std::string morphology_ex_type_default_value_;
+  //char morphology_ex_type_;
   int morphology_ex_kernel_size_;
   int morphology_ex_kernel_size_initial_value_;
 
@@ -176,7 +182,6 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
     return true;
   }
 
-
   void reconfigureCallback(Config& new_config, uint32_t level)
   {
     config_ = new_config;
@@ -189,7 +194,7 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
     highVal = config_.highVal;
 
     morphology_ex_kernel_size_ = config_.morphology_ex_kernel_size;
-
+    morphology_ex_type_ = config_.morphology_ex_type;
     params_.filterByColor = config_.filterByColor;
     params_.blobColor = config_.blobColor;
 
@@ -300,19 +305,34 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
         cv::namedWindow(thresholded_image_name_, cv::WINDOW_AUTOSIZE);
         cv::namedWindow(thresholded_image_with_mask_name_, cv::WINDOW_AUTOSIZE);
         cv::namedWindow(blob_detector_params_name_, cv::WINDOW_AUTOSIZE);
-        
-        if (morphology_ex_type_ == "opening")
+
+        if (morphology_ex_type_ != prev_morphology_ex_type_)
         {
-          cv::namedWindow(opening_image_name_, cv::WINDOW_AUTOSIZE);
-          cv::createTrackbar("morphology_ex_kernel_size", opening_image_name_, &morphology_ex_kernel_size_, 100, trackbarCallback);
+          cv::destroyWindow(morphology_ex_image_name_);
+          morphology_ex_kernel_size_ = morphology_ex_kernel_size_initial_value_;
+          config_.morphology_ex_type = morphology_ex_type_;
+          config_.morphology_ex_kernel_size = morphology_ex_kernel_size_;
+          reconfigure_server_->updateConfig(config_);
         }
 
-        else if (morphology_ex_type_ == "closing")
-        {
-          cv::namedWindow(closing_image_name_, cv::WINDOW_AUTOSIZE);
-          cv::createTrackbar("morphology_ex_kernel_size", closing_image_name_, &morphology_ex_kernel_size_, 100, trackbarCallback);
+        if (morphology_ex_type_ == "opening" || morphology_ex_type_ == "closing")
+        { 
+          if (morphology_ex_type_ == "opening")
+          {
+            morphology_ex_image_name_ = "Opening Image";
+          }
+
+          else if (morphology_ex_type_ == "closing")
+          {
+            morphology_ex_image_name_ = "Closing Image";
+          }
+
+          cv::namedWindow(morphology_ex_image_name_, cv::WINDOW_AUTOSIZE);
+          cv::createTrackbar("morphology_ex_kernel_size", morphology_ex_image_name_, &morphology_ex_kernel_size_, 100, trackbarCallback);
         }
 
+        prev_morphology_ex_type_ = morphology_ex_type_;
+
         cv::createTrackbar("lowHue", thresholded_image_name_, &lowHue, 179, trackbarCallback);// should we increase the range? const int max_value_H = 360/2; https://docs.opencv.org/3.4/da/d97/tutorial_threshold_inRange.html
         cv::createTrackbar("lowSat", thresholded_image_name_, &lowSat, 255, trackbarCallback);
         cv::createTrackbar("lowVal", thresholded_image_name_, &lowVal, 255, trackbarCallback);
@@ -409,40 +429,36 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
         //Point(morph_size, morph_size));
 
       cv::Mat kernel; 
-      cv::Mat opening_image;
-      cv::Mat closing_image;
+      cv::Mat morphology_ex_image;
 
-      if (morphology_ex_type_ == "opening")
-      {
+      if (morphology_ex_type_ == "opening" || morphology_ex_type_ == "closing")
+      { 
         if (morphology_ex_kernel_size_ % 2 != 1)
         {
           morphology_ex_kernel_size_ = morphology_ex_kernel_size_ + 1;
         }
 
         kernel = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(morphology_ex_kernel_size_, morphology_ex_kernel_size_), cv::Point(-1, -1));
 
+        if (morphology_ex_type_ == "opening")
+        {
+          cv::morphologyEx(thresholded_image, morphology_ex_image, cv::MORPH_OPEN, kernel);
+        }
+
+        else if (morphology_ex_type_ == "closing")
+        {
+          cv::morphologyEx(thresholded_image, morphology_ex_image, cv::MORPH_CLOSE, kernel);
+        }
+      }
 
-        cv::morphologyEx(thresholded_image, opening_image, cv::MORPH_OPEN, kernel);
       //morphologyEx(img, open, CV_MOP_OPEN, kernel);
 
           //morphologyEx( src, dst, MORPH_TOPHAT, element, Point(-1,-1), i );   
     //morphologyEx( src, dst, MORPH_TOPHAT, element ); // here iteration=1
 //MORPH_OPEN
-      }
-
-      else if (morphology_ex_type_ == "closing")
-      {
-        if (morphology_ex_kernel_size_ % 2 != 1)
-        {
-          morphology_ex_kernel_size_ = morphology_ex_kernel_size_ + 1;
-        }
-
-        kernel = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(morphology_ex_kernel_size_, morphology_ex_kernel_size_), cv::Point(-1, -1));
 
       //morphologyEx(img, close, CV_MOP_CLOSE, kernel);
       //morphologyEx(image, output, MORPH_CLOSE, element,Point(-1, -1), 2);
-        cv::morphologyEx(thresholded_image, closing_image, cv::MORPH_CLOSE, kernel);
-      }
 
      // Serena : not related to us, or later we use the same way to check on something if needed
       // those paramaters cannot be =0
@@ -461,14 +477,9 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
       // will hold the results of the detection
       std::vector<cv::KeyPoint> keypoints;
       // runs the actual detection
-      if (morphology_ex_type_ == "opening")
-      {
-        detector->detect(opening_image, keypoints);
-      }
-
-      else if (morphology_ex_type_ == "closing")
+      if (morphology_ex_type_ == "opening" || morphology_ex_type_ == "closing")
       {
-        detector->detect(closing_image, keypoints);
+        detector->detect(morphology_ex_image, keypoints);
       }
 
       else
@@ -483,8 +494,6 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
         std::cout << "test if there is keypoint detected : " << keypoints[0].size << std::endl;
       }
 
-
-
       // cv::Mat out_image;
       // will we encounter this situation ?? if (frame.channels() == 1)
       // {
@@ -523,14 +532,9 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
         cv::imshow(thresholded_image_name_, thresholded_image);
         cv::imshow(thresholded_image_with_mask_name_, thresholded_image_with_mask);
 
-        if (morphology_ex_type_ == "opening")
-        {
-          cv::imshow(opening_image_name_, opening_image);
-        }
-
-        else if (morphology_ex_type_ == "closing")
+        if (morphology_ex_type_ == "opening" || morphology_ex_type_ == "closing")
         {
-          cv::imshow(closing_image_name_, closing_image);
+          cv::imshow(morphology_ex_image_name_, morphology_ex_image);
         }
 
         char c = (char)cv::waitKey(1);
@@ -541,32 +545,51 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
         {
           case 'o':
             morphology_ex_type_ = "opening";
-            cv::destroyWindow(closing_image_name_);
-            morphology_ex_kernel_size_ = morphology_ex_kernel_size_initial_value_;
+            //morphology_ex_kernel_size_ = morphology_ex_kernel_size_initial_value_;
             break;
           case 'c':
             morphology_ex_type_ = "closing";
-            cv::destroyWindow(opening_image_name_);
-            morphology_ex_kernel_size_ = morphology_ex_kernel_size_initial_value_;
+            //morphology_ex_kernel_size_ = morphology_ex_kernel_size_initial_value_;
             break;
           case 'n':
             morphology_ex_type_ = "off";
-            cv::destroyWindow(opening_image_name_);
-            cv::destroyWindow(closing_image_name_);
-            morphology_ex_kernel_size_ = morphology_ex_kernel_size_initial_value_;
+            //morphology_ex_kernel_size_ = morphology_ex_kernel_size_initial_value_;
             break;
         }
       }
 
+      if (thresholded_img_pub_.getNumSubscribers() > 0)
+      {
+        cv::Mat out_thresholded_image;
+        cv::cvtColor(thresholded_image, out_thresholded_image, cv::COLOR_GRAY2BGR);
+        sensor_msgs::Image::Ptr out_thresholded_img = cv_bridge::CvImage(msg->header, "bgr8", out_thresholded_image).toImageMsg();
+        thresholded_img_pub_.publish(out_thresholded_img);
+      }
       // Publish the image.
       // Publish the image.
-      cv::Mat out_thresholded_image;
-      cv::cvtColor(thresholded_image, out_thresholded_image, cv::COLOR_GRAY2BGR);
+
+      if (thresholded_img_with_mask_pub_.getNumSubscribers() > 0)
+      {
+        //cv::Mat out_thresholded_image_with_mask;
+        //cv::cvtColor(thresholded_image_with_mask, out_thresholded_image_with_mask, cv::COLOR_GRAY2BGR);
+        sensor_msgs::Image::Ptr out_thresholded_img_with_mask = cv_bridge::CvImage(msg->header, "bgr8", thresholded_image_with_mask).toImageMsg();
+        thresholded_img_with_mask_pub_.publish(out_thresholded_img_with_mask);
+      }
+
+      if (morphology_ex_img_pub_.getNumSubscribers() > 0)
+      {
+        if (morphology_ex_type_ == "opening" || morphology_ex_type_ == "closing")
+        {
+          cv::Mat out_morphology_ex_image;
+          cv::cvtColor(morphology_ex_image, out_morphology_ex_image, cv::COLOR_GRAY2BGR);
+          sensor_msgs::Image::Ptr out_morphology_ex_img = cv_bridge::CvImage(msg->header, "bgr8", out_morphology_ex_image).toImageMsg();
+          morphology_ex_img_pub_.publish(out_morphology_ex_img);
+        }
+      }
+
       sensor_msgs::Image::Ptr out_img = cv_bridge::CvImage(msg->header, "bgr8", out_image).toImageMsg();
-      sensor_msgs::Image::Ptr out_thresholded_img = cv_bridge::CvImage(msg->header, "bgr8", out_thresholded_image).toImageMsg();
-
+
       img_pub_.publish(out_img);
-      thresholded_img_pub_.publish(out_thresholded_img);
       msg_pub_.publish(blobs_msg); //s
     }
     catch (cv::Exception& e)
@@ -601,6 +624,7 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
 
     pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
+    pnh_->param("morphology_ex_type", morphology_ex_type_, morphology_ex_type_default_value_);
 
     if (debug_view_)
     {
@@ -611,12 +635,13 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
     window_name_ = "Blob Detection Demo";
     thresholded_image_name_ = "Thresholded Image";
     thresholded_image_with_mask_name_ = "Thresholded Image With Mask";
-    opening_image_name_ = "Opening Image";
-    closing_image_name_ = "Closing Image";
+    morphology_ex_image_name_ = "Opening Image";
     blob_detector_params_name_ = "Blob Detector Params";
     // delete output screen in launch file.
     ROS_INFO("test for oninit.");
 
+    prev_morphology_ex_type_ = "off";
+    morphology_ex_type_default_value_ = "off";
     morphology_ex_kernel_size_initial_value_ = 3;
     max_minArea_ = 10000; // if 2560*1600 = 4096000
     max_maxArea_ = 10000; // if 2560*1600 = 4096000
@@ -629,6 +654,9 @@ class BlobDetectionNodelet : public opencv_apps::Nodelet
 
     img_pub_ = advertiseImage(*pnh_, "image", 1);
     thresholded_img_pub_ = advertiseImage(*pnh_, "thresholded_image", 1);
+    thresholded_img_with_mask_pub_ = advertiseImage(*pnh_, "thresholded_image_with_mask", 1);
+    morphology_ex_img_pub_ = advertiseImage(*pnh_, "morphology_ex_image", 1);
+
     msg_pub_ = advertise<opencv_apps::BlobArrayStamped>(*pnh_, "blobs", 1);
 
     onInitPostProcess();