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Add the intensity histogram app
Signed-off-by: Gaël Écorchard <[email protected]>
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‎CMakeLists.txt

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@@ -261,7 +261,7 @@ opencv_apps_add_nodelet(camshift src/nodelet/camshift_nodelet.cpp) # ./camshiftd
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# ./create_mask.cpp
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# ./dbt_face_detection.cpp
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# ./delaunay2.cpp
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# ./demhist.cpp
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opencv_apps_add_nodelet(intensity_histogram src/nodelet/intensity_histogram.cpp) # ./demhist.cpp
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# ./detect_blob.cpp
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# ./detect_mser.cpp
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# ./dft.cpp

‎launch/intensity_histogram.launch

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<launch>
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<arg name="node_name" default="intensity_histogram" />
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
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<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
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<arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />
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<!-- intensity_histogram.cpp -->
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<node name="$(arg node_name)" pkg="opencv_apps" type="intensity_histogram" >
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<remap from="image" to="$(arg image)" />
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<param name="debug_view" value="$(arg debug_view)" />
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<param name="queue_size" value="$(arg queue_size)" />
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</node>
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</launch>

‎nodelet_plugins.xml

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<description>Nodelet to demonstrate the famous watershed segmentation algorithm in OpenCV: watershed()</description>
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</class>
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<class name="opencv_apps/intensity_histogram" type="opencv_apps::IntensityHistogramNodelet" base_class_type="nodelet::Nodelet">
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<description>Nodelet of intensity histogram</description>
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</class>
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<!--
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for backward compatibility, can be removed in M-turtle
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-->

‎src/nodelet/intensity_histogram.cpp

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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2020, Gaël Écorchard, Czech Technical University.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Gaël Écorchard nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/**
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* Compute the histogram of intensities and publish it as an image.
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*/
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#include <vector>
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#include <cv_bridge/cv_bridge.h>
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//#include <dynamic_reconfigure/server.h>
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#include <image_transport/image_transport.h>
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#include <opencv_apps/nodelet.h>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <ros/ros.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/image_encodings.h>
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namespace opencv_apps
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{
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namespace intensity_histogram
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{
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static const std::string OPENCV_WINDOW = "Image histogram";
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cv::Mat grayHistogram(cv_bridge::CvImageConstPtr img)
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{
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/* Inspired by https://github.com/opencv/opencv/tree/3.4/samples/cpp/tutorial_code/Histograms_Matching/calcHist_Demo.cpp. */
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constexpr bool uniform = true;
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constexpr bool accumulate = false;
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constexpr int bin_count = 256;
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float range[] = {0, 256}; //the upper boundary is exclusive
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const float* hist_range = {range};
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cv::Mat intensity_hist;
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cv::calcHist(&img->image, 1, 0, cv::Mat(), intensity_hist, 1, &bin_count, &hist_range, uniform, accumulate);
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int hist_w = 512;
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int hist_h = 400;
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int bin_w = cvRound(static_cast<double>(hist_w / bin_count));
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cv::Mat hist_image(hist_h, hist_w, CV_8UC1, cv::Scalar(0));
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cv::normalize(intensity_hist, intensity_hist, 0, hist_image.rows, cv::NORM_MINMAX, -1, cv::Mat());
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for (unsigned int i = 1; i < bin_count; i++)
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{
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cv::line(hist_image,
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cv::Point(bin_w * (i-1), hist_h - cvRound(intensity_hist.at<float>(i-1))),
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cv::Point(bin_w * (i), hist_h - cvRound(intensity_hist.at<float>(i))),
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cv::Scalar(255), 2, 8, 0);
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}
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return hist_image;
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}
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cv::Mat bgrHistogram(cv_bridge::CvImageConstPtr img)
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{
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/* Inspired by https://github.com/opencv/opencv/tree/3.4/samples/cpp/tutorial_code/Histograms_Matching/calcHist_Demo.cpp. */
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constexpr bool uniform = true;
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constexpr bool accumulate = false;
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constexpr int bin_count = 256;
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std::vector<cv::Mat> bgr_planes;
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cv::split(img->image, bgr_planes);
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float range[] = {0, 256}; //the upper boundary is exclusive
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const float* hist_range = {range};
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cv::Mat b_hist;
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cv::Mat g_hist;
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cv::Mat r_hist;
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cv::calcHist(&bgr_planes[0], 1, 0, cv::Mat(), b_hist, 1, &bin_count, &hist_range, uniform, accumulate);
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cv::calcHist(&bgr_planes[1], 1, 0, cv::Mat(), g_hist, 1, &bin_count, &hist_range, uniform, accumulate);
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cv::calcHist(&bgr_planes[2], 1, 0, cv::Mat(), r_hist, 1, &bin_count, &hist_range, uniform, accumulate);
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int hist_w = 512;
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int hist_h = 400;
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int bin_w = cvRound(static_cast<double>(hist_w / bin_count));
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cv::Mat hist_image(hist_h, hist_w, CV_8UC3, cv::Scalar(0, 0, 0));
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cv::normalize(b_hist, b_hist, 0, hist_image.rows, cv::NORM_MINMAX, -1, cv::Mat());
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cv::normalize(g_hist, g_hist, 0, hist_image.rows, cv::NORM_MINMAX, -1, cv::Mat());
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cv::normalize(r_hist, r_hist, 0, hist_image.rows, cv::NORM_MINMAX, -1, cv::Mat());
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for (unsigned int i = 1; i < bin_count; i++)
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{
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cv::line(hist_image,
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cv::Point(bin_w * (i-1), hist_h - cvRound(b_hist.at<float>(i-1))),
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cv::Point(bin_w * (i), hist_h - cvRound(b_hist.at<float>(i))),
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cv::Scalar(255, 0, 0), 2, 8, 0);
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cv::line(hist_image,
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cv::Point(bin_w * (i-1), hist_h - cvRound(g_hist.at<float>(i-1))),
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cv::Point(bin_w * (i), hist_h - cvRound(g_hist.at<float>(i))),
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cv::Scalar(0, 255, 0), 2, 8, 0);
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cv::line(hist_image,
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cv::Point(bin_w * (i-1), hist_h - cvRound(r_hist.at<float>(i-1))),
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cv::Point(bin_w * (i), hist_h - cvRound(r_hist.at<float>(i))),
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cv::Scalar(0, 0, 255), 2, 8, 0);
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}
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return hist_image;
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}
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class IntensityHistogram
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{
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public:
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IntensityHistogram() :
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it_(nh_)
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{
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image_sub_ = it_.subscribe("image", queue_size_, &IntensityHistogram::imageCallback, this);
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hist_pub_ = it_.advertise("image_hist", 1);
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ros::NodeHandle private_nh("~");
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private_nh.param("queue_size", queue_size_, 1);
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private_nh.param("debug_view", debug_view_, false);
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if (debug_view_)
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{
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cv::namedWindow(OPENCV_WINDOW);
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}
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}
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~IntensityHistogram()
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{
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if (debug_view_)
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{
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cv::destroyWindow(OPENCV_WINDOW);
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}
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}
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void imageCallback(const sensor_msgs::ImageConstPtr& msg)
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{
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cv_bridge::CvImageConstPtr cv_ptr;
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try
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{
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cv_ptr = cv_bridge::toCvShare(msg);
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}
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catch (cv_bridge::Exception& e)
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{
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ROS_ERROR("cv_bridge exception: %s", e.what());
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return;
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}
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cv::Mat out_img;
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sensor_msgs::Image::Ptr out_img_msg;
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if (cv_ptr->image.channels() == 1)
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{
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out_img = grayHistogram(cv_ptr);
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out_img_msg = cv_bridge::CvImage(
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msg->header, sensor_msgs::image_encodings::MONO8, out_img).toImageMsg();
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}
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else
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{
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out_img = bgrHistogram(cv_ptr);
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out_img_msg = cv_bridge::CvImage(
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msg->header, sensor_msgs::image_encodings::RGB8, out_img).toImageMsg();
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}
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if (debug_view_)
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{
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// Update GUI Window
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cv::imshow(OPENCV_WINDOW, out_img);
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cv::waitKey(3);
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}
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hist_pub_.publish(out_img_msg);
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}
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private:
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ros::NodeHandle nh_;
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image_transport::ImageTransport it_;
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image_transport::Subscriber image_sub_;
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image_transport::Publisher hist_pub_;
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int queue_size_;
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bool debug_view_;
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};
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} /* namespace intensity_histogram. */
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class IntensityHistogramNodelet : public nodelet::Nodelet
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{
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public:
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virtual void onInit() // NOLINT(modernize-use-override)
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{
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intensity_histogram::IntensityHistogram ih;
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ros::spin();
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}
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};
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} /* namespace opencv_apps. */
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#include <pluginlib/class_list_macros.h>
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PLUGINLIB_EXPORT_CLASS(opencv_apps::IntensityHistogramNodelet, nodelet::Nodelet);

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