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Merge pull request #613 from garaemon/single-channel-histogram
[jsk_perception] SingleChannelHistogram to compute histogram of MONO8 image
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| #!/usr/bin/env python | ||
|
|
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| PACKAGE='jsk_perception' | ||
| try: | ||
| import imp | ||
| imp.find_module(PACKAGE) | ||
| from dynamic_reconfigure.parameter_generator_catkin import * | ||
| except: | ||
| import roslib; roslib.load_manifest(PACKAGE) | ||
| from dynamic_reconfigure.parameter_generator import * | ||
|
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| gen = ParameterGenerator() | ||
|
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| gen.add("hist_size", int_t, 0, "the number of bins", 10, 1, 255) | ||
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| exit(gen.generate(PACKAGE, "jsk_perception", "SingleChannelHistogram")) |
87 changes: 87 additions & 0 deletions
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jsk_perception/include/jsk_perception/single_channel_histogram.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| // -*- mode: c++ -*- | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2015, JSK Lab | ||
| * 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/o2r other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the JSK Lab 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. | ||
| *********************************************************************/ | ||
|
|
||
|
|
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| #ifndef JSK_PERCEPTION_SINGLE_CHANNEL_HISTOGRAM_H_ | ||
| #define JSK_PERCEPTION_SINGLE_CHANNEL_HISTOGRAM_H_ | ||
|
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| #include <jsk_topic_tools/diagnostic_nodelet.h> | ||
| #include <sensor_msgs/Image.h> | ||
| #include <jsk_pcl_ros/ColorHistogram.h> | ||
|
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| #include <dynamic_reconfigure/server.h> | ||
| #include <jsk_perception/SingleChannelHistogramConfig.h> | ||
|
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| #include <message_filters/subscriber.h> | ||
| #include <message_filters/synchronizer.h> | ||
| #include <message_filters/sync_policies/exact_time.h> | ||
| #include <message_filters/sync_policies/approximate_time.h> | ||
|
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| namespace jsk_perception | ||
| { | ||
| class SingleChannelHistogram: public jsk_topic_tools::DiagnosticNodelet | ||
| { | ||
| public: | ||
| typedef message_filters::sync_policies::ApproximateTime< | ||
| sensor_msgs::Image, | ||
| sensor_msgs::Image > SyncPolicy; | ||
| typedef SingleChannelHistogramConfig Config; | ||
| SingleChannelHistogram(): DiagnosticNodelet("SingleChannelHistogram") {} | ||
| protected: | ||
| virtual void onInit(); | ||
| virtual void subscribe(); | ||
| virtual void unsubscribe(); | ||
| virtual void compute( | ||
| const sensor_msgs::Image::ConstPtr& msg); | ||
| virtual void compute( | ||
| const sensor_msgs::Image::ConstPtr& msg, | ||
| const sensor_msgs::Image::ConstPtr& mask_msg); | ||
| virtual void configCallback(Config &config, uint32_t level); | ||
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| boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; | ||
| message_filters::Subscriber<sensor_msgs::Image> sub_image_; | ||
| message_filters::Subscriber<sensor_msgs::Image> sub_mask_; | ||
| boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; | ||
| bool use_mask_; | ||
| ros::Subscriber sub_; | ||
| ros::Publisher pub_; | ||
| boost::mutex mutex_; | ||
| int hist_size_; | ||
| private: | ||
|
|
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| }; | ||
| } | ||
|
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,124 @@ | ||
| // -*- mode: c++ -*- | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2015, JSK Lab | ||
| * 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/o2r other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the JSK Lab 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. | ||
| *********************************************************************/ | ||
|
|
||
| #include "jsk_perception/single_channel_histogram.h" | ||
| #include <opencv2/opencv.hpp> | ||
| #include <cv_bridge/cv_bridge.h> | ||
|
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| namespace jsk_perception | ||
| { | ||
| void SingleChannelHistogram::onInit() | ||
| { | ||
| DiagnosticNodelet::onInit(); | ||
| pnh_->param("use_mask", use_mask_, false); | ||
| srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_); | ||
| dynamic_reconfigure::Server<Config>::CallbackType f = | ||
| boost::bind ( | ||
| &SingleChannelHistogram::configCallback, this, _1, _2); | ||
| srv_->setCallback (f); | ||
|
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| pub_ = advertise<jsk_pcl_ros::ColorHistogram>( | ||
| *pnh_, "output", 1); | ||
| } | ||
|
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| void SingleChannelHistogram::subscribe() | ||
| { | ||
| if (use_mask_) { | ||
| sub_image_.subscribe(*pnh_, "input", 1); | ||
| sub_mask_.subscribe(*pnh_, "input/mask", 1); | ||
| sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100); | ||
| sync_->connectInput(sub_image_, sub_mask_); | ||
| sync_->registerCallback(boost::bind(&SingleChannelHistogram::compute, | ||
| this, _1, _2)); | ||
| } | ||
| else { | ||
| sub_ = pnh_->subscribe("input", 1, | ||
| &SingleChannelHistogram::compute, | ||
| this); | ||
| } | ||
| } | ||
|
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| void SingleChannelHistogram::unsubscribe() | ||
| { | ||
| if (use_mask_) { | ||
| sub_image_.unsubscribe(); | ||
| sub_mask_.unsubscribe(); | ||
| } | ||
| else { | ||
| sub_.shutdown(); | ||
| } | ||
| } | ||
|
|
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| void SingleChannelHistogram::compute( | ||
| const sensor_msgs::Image::ConstPtr& msg, | ||
| const sensor_msgs::Image::ConstPtr& mask_msg) | ||
| { | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
| cv::Mat image = cv_bridge::toCvCopy(msg, msg->encoding)->image; | ||
| cv::Mat mask; | ||
| if (mask_msg) { | ||
| mask = cv_bridge::toCvCopy(mask_msg, mask_msg->encoding)->image; | ||
| } | ||
| float range[] = { 0, 256 } ; | ||
| const float* histRange = { range }; | ||
| cv::MatND hist; | ||
| bool uniform = true; bool accumulate = false; | ||
|
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| cv::calcHist(&image, 1, 0, mask, hist, 1, &hist_size_, | ||
| &histRange, uniform, accumulate); | ||
| jsk_pcl_ros::ColorHistogram histogram; | ||
| histogram.header = msg->header; | ||
| for (int i = 0; i < hist_size_; i++) { | ||
| histogram.histogram.push_back(hist.at<float>(0, i)); | ||
| } | ||
| pub_.publish(histogram); | ||
| } | ||
|
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| void SingleChannelHistogram::compute( | ||
| const sensor_msgs::Image::ConstPtr& msg) | ||
| { | ||
| compute(msg, sensor_msgs::Image::ConstPtr()); | ||
| } | ||
|
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| void SingleChannelHistogram::configCallback( | ||
| Config &config, uint32_t level) | ||
| { | ||
| boost::mutex::scoped_lock lock(mutex_); | ||
| hist_size_ = config.hist_size; | ||
| } | ||
| } | ||
|
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| #include <pluginlib/class_list_macros.h> | ||
| PLUGINLIB_EXPORT_CLASS (jsk_perception::SingleChannelHistogram, nodelet::Nodelet); |