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Try to satisfy clang-format and clang-tidy
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Signed-off-by: Gaël Écorchard <[email protected]>
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@galou @k-okada
galou authored and k-okada committed Feb 11, 2022
1 parent 7f8e6c7 commit 5c2b225
Showing 1 changed file with 90 additions and 87 deletions.
177 changes: 90 additions & 87 deletions src/nodelet/intensity_histogram.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,17 +55,18 @@ namespace intensity_histogram

static const std::string OPENCV_WINDOW = "Image histogram";

cv::Mat grayHistogram(cv_bridge::CvImageConstPtr img)
cv::Mat grayHistogram(const cv_bridge::CvImageConstPtr& img)
{
/* Inspired by https://github.com/opencv/opencv/tree/3.4/samples/cpp/tutorial_code/Histograms_Matching/calcHist_Demo.cpp. */
/* Inspired by
* https://github.com/opencv/opencv/tree/3.4/samples/cpp/tutorial_code/Histograms_Matching/calcHist_Demo.cpp. */
constexpr bool uniform = true;
constexpr bool accumulate = false;
constexpr int bin_count = 256;

float range[] = {0, 256}; //the upper boundary is exclusive
const float* hist_range = {range};
float range[] = { 0, 256 }; //the upper boundary is exclusive
const float* hist_range = { range };
cv::Mat intensity_hist;
cv::calcHist(&img->image, 1, 0, cv::Mat(), intensity_hist, 1, &bin_count, &hist_range, uniform, accumulate);
cv::calcHist(&img->image, 1, nullptr, cv::Mat(), intensity_hist, 1, &bin_count, &hist_range, uniform, accumulate);
int hist_w = 512;
int hist_h = 400;
int bin_w = cvRound(static_cast<double>(hist_w / bin_count));
Expand All @@ -74,16 +75,17 @@ cv::Mat grayHistogram(cv_bridge::CvImageConstPtr img)
for (unsigned int i = 1; i < bin_count; i++)
{
cv::line(hist_image,
cv::Point(bin_w * (i-1), hist_h - cvRound(intensity_hist.at<float>(i-1))),
cv::Point(bin_w * (i), hist_h - cvRound(intensity_hist.at<float>(i))),
cv::Point(bin_w * (i - 1), hist_h - cvRound(intensity_hist.at<float>(i - 1))),
cv::Point(bin_w * i, hist_h - cvRound(intensity_hist.at<float>(i))),
cv::Scalar(255), 2, 8, 0);
}
return hist_image;
}

cv::Mat bgrHistogram(cv_bridge::CvImageConstPtr img)
cv::Mat bgrHistogram(const cv_bridge::CvImageConstPtr& img)
{
/* Inspired by https://github.com/opencv/opencv/tree/3.4/samples/cpp/tutorial_code/Histograms_Matching/calcHist_Demo.cpp. */
/* Inspired by
* https://github.com/opencv/opencv/tree/3.4/samples/cpp/tutorial_code/Histograms_Matching/calcHist_Demo.cpp. */
constexpr bool uniform = true;
constexpr bool accumulate = false;
constexpr int bin_count = 256;
Expand All @@ -96,9 +98,9 @@ cv::Mat bgrHistogram(cv_bridge::CvImageConstPtr img)
cv::Mat b_hist;
cv::Mat g_hist;
cv::Mat r_hist;
cv::calcHist(&bgr_planes[0], 1, 0, cv::Mat(), b_hist, 1, &bin_count, &hist_range, uniform, accumulate);
cv::calcHist(&bgr_planes[1], 1, 0, cv::Mat(), g_hist, 1, &bin_count, &hist_range, uniform, accumulate);
cv::calcHist(&bgr_planes[2], 1, 0, cv::Mat(), r_hist, 1, &bin_count, &hist_range, uniform, accumulate);
cv::calcHist(&bgr_planes[0], 1, nullptr, cv::Mat(), b_hist, 1, &bin_count, &hist_range, uniform, accumulate);
cv::calcHist(&bgr_planes[1], 1, nullptr, cv::Mat(), g_hist, 1, &bin_count, &hist_range, uniform, accumulate);
cv::calcHist(&bgr_planes[2], 1, nullptr, cv::Mat(), r_hist, 1, &bin_count, &hist_range, uniform, accumulate);
int hist_w = 512;
int hist_h = 400;
int bin_w = cvRound(static_cast<double>(hist_w / bin_count));
Expand All @@ -109,16 +111,16 @@ cv::Mat bgrHistogram(cv_bridge::CvImageConstPtr img)
for (unsigned int i = 1; i < bin_count; i++)
{
cv::line(hist_image,
cv::Point(bin_w * (i-1), hist_h - cvRound(b_hist.at<float>(i-1))),
cv::Point(bin_w * (i), hist_h - cvRound(b_hist.at<float>(i))),
cv::Point(bin_w * (i - 1), hist_h - cvRound(b_hist.at<float>(i - 1))),
cv::Point(bin_w * i, hist_h - cvRound(b_hist.at<float>(i))),
cv::Scalar(255, 0, 0), 2, 8, 0);
cv::line(hist_image,
cv::Point(bin_w * (i-1), hist_h - cvRound(g_hist.at<float>(i-1))),
cv::Point(bin_w * (i), hist_h - cvRound(g_hist.at<float>(i))),
cv::Point(bin_w * (i - 1), hist_h - cvRound(g_hist.at<float>(i - 1))),
cv::Point(bin_w * i, hist_h - cvRound(g_hist.at<float>(i))),
cv::Scalar(0, 255, 0), 2, 8, 0);
cv::line(hist_image,
cv::Point(bin_w * (i-1), hist_h - cvRound(r_hist.at<float>(i-1))),
cv::Point(bin_w * (i), hist_h - cvRound(r_hist.at<float>(i))),
cv::Point(bin_w * (i - 1), hist_h - cvRound(r_hist.at<float>(i - 1))),
cv::Point(bin_w * i, hist_h - cvRound(r_hist.at<float>(i))),
cv::Scalar(0, 0, 255), 2, 8, 0);
}
return hist_image;
Expand All @@ -127,95 +129,96 @@ cv::Mat bgrHistogram(cv_bridge::CvImageConstPtr img)
class IntensityHistogram
{

public:
public:

IntensityHistogram() :
it_(nh_)
{
ros::NodeHandle private_nh("~");
private_nh.param("queue_size", queue_size_, 1);
private_nh.param("debug_view", debug_view_, false);

image_sub_ = it_.subscribe("image", queue_size_, &IntensityHistogram::imageCallback, this);
hist_pub_ = it_.advertise("image_hist", queue_size_);

if (debug_view_)
{
cv::namedWindow(OPENCV_WINDOW);
}
}

~IntensityHistogram()
{
if (debug_view_)
{
cv::destroyWindow(OPENCV_WINDOW);
}
}

IntensityHistogram() :
it_(nh_)
void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImageConstPtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvShare(msg);
}
catch (cv_bridge::Exception& e)
{
image_sub_ = it_.subscribe("image", queue_size_, &IntensityHistogram::imageCallback, this);
hist_pub_ = it_.advertise("image_hist", 1);

ros::NodeHandle private_nh("~");
private_nh.param("queue_size", queue_size_, 1);
private_nh.param("debug_view", debug_view_, false);
if (debug_view_)
{
cv::namedWindow(OPENCV_WINDOW);
}
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}

~IntensityHistogram()
cv::Mat out_img;
sensor_msgs::Image::Ptr out_img_msg;
if (cv_ptr->image.channels() == 1)
{
out_img = grayHistogram(cv_ptr);
out_img_msg = cv_bridge::CvImage(
msg->header, sensor_msgs::image_encodings::MONO8, out_img).toImageMsg();

}
else
{
if (debug_view_)
{
cv::destroyWindow(OPENCV_WINDOW);
}
out_img = bgrHistogram(cv_ptr);
out_img_msg = cv_bridge::CvImage(
msg->header, sensor_msgs::image_encodings::RGB8, out_img).toImageMsg();
}

void imageCallback(const sensor_msgs::ImageConstPtr& msg)
if (debug_view_)
{
cv_bridge::CvImageConstPtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvShare(msg);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}

cv::Mat out_img;
sensor_msgs::Image::Ptr out_img_msg;
if (cv_ptr->image.channels() == 1)
{
out_img = grayHistogram(cv_ptr);
out_img_msg = cv_bridge::CvImage(
msg->header, sensor_msgs::image_encodings::MONO8, out_img).toImageMsg();

}
else
{
out_img = bgrHistogram(cv_ptr);
out_img_msg = cv_bridge::CvImage(
msg->header, sensor_msgs::image_encodings::RGB8, out_img).toImageMsg();
}

if (debug_view_)
{
// Update GUI Window
cv::imshow(OPENCV_WINDOW, out_img);
cv::waitKey(3);
}

hist_pub_.publish(out_img_msg);
// Update GUI Window
cv::imshow(OPENCV_WINDOW, out_img);
cv::waitKey(3);
}

private:
hist_pub_.publish(out_img_msg);
}

private:

ros::NodeHandle nh_;
image_transport::ImageTransport it_;
image_transport::Subscriber image_sub_;
image_transport::Publisher hist_pub_;
int queue_size_;
bool debug_view_;
ros::NodeHandle nh_;
image_transport::ImageTransport it_;
image_transport::Subscriber image_sub_;
image_transport::Publisher hist_pub_;
int queue_size_;
bool debug_view_;
};

} /* namespace intensity_histogram. */
} /* namespace intensity_histogram. */

class IntensityHistogramNodelet : public nodelet::Nodelet
{

public:
public:

virtual void onInit() // NOLINT(modernize-use-override)
{
intensity_histogram::IntensityHistogram ih;
ros::spin();
}
virtual void onInit() // NOLINT(modernize-use-override)
{
intensity_histogram::IntensityHistogram ih;
ros::spin();
}
};

} /* namespace opencv_apps. */
} /* namespace opencv_apps. */

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(opencv_apps::IntensityHistogramNodelet, nodelet::Nodelet);

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