add CalcHist, CompareHist example, rewrited from ros-perception#104

CMakeLists.txt

@@ -52,6 +52,7 @@ generate_dynamic_reconfigure_options(
   cfg/GoodfeatureTrack.cfg
   cfg/CornerHarris.cfg
   #
+  cfg/CompareHistogram.cfg
   cfg/EqualizeHistogram.cfg
   cfg/CamShift.cfg
   cfg/FBackFlow.cfg
@@ -169,7 +170,7 @@ opencv_apps_add_nodelet(discrete_fourier_transform src/nodelet/discrete_fourier_
   # ./tutorial_code/Histograms_Matching/calcBackProject_Demo1.cpp
   # ./tutorial_code/Histograms_Matching/calcBackProject_Demo2.cpp
   # ./tutorial_code/Histograms_Matching/calcHist_Demo.cpp
-  #  ./tutorial_code/Histograms_Matching/compareHist_Demo.cpp
+  opencv_apps_add_nodelet(compare_histogram src/nodelet/compare_histogram_nodelet.cpp)  #  ./tutorial_code/Histograms_Matching/compareHist_Demo.cpp
   opencv_apps_add_nodelet(equalize_histogram src/nodelet/equalize_histogram_nodelet.cpp) # ./tutorial_code/Histograms_Matching/EqualizeHist_Demo.cpp
   # ./tutorial_code/Histograms_Matching/MatchTemplate_Demo.cpp
 
@@ -263,7 +264,7 @@ opencv_apps_add_nodelet(camshift src/nodelet/camshift_nodelet.cpp) # ./camshiftd
 # ./create_mask.cpp
 # ./dbt_face_detection.cpp
 # ./delaunay2.cpp
-opencv_apps_add_nodelet(intensity_histogram src/nodelet/intensity_histogram.cpp) # ./demhist.cpp
+# ./demhist.cpp
 # ./detect_blob.cpp
 # ./detect_mser.cpp
 # ./dft.cpp

cfg/CompareHistogram.cfg

@@ -0,0 +1,53 @@
+#! /usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2022, Kei Okada
+# 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/or other materials provided
+#    with the distribution.
+#  * Neither the name of Kei Okada 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.
+
+
+PACKAGE = "opencv_apps"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+gen.add("use_camera_info", bool_t, 0, "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.", False)
+
+histogram_comparison_type = gen.enum([ gen.const("Correlation", int_t, 0, "Correlation"),
+                                       gen.const("Chi_Square",  int_t, 1, "Chi-Square"),
+                                       gen.const("Intersection", int_t, 2, "Intersection"),
+                                       gen.const("Bhattacharyya",  int_t, 3, "Bhattacharyya distance")],
+                                     "Histogram Comparison method")
+gen.add("histogram_comparison_type", int_t, 1, "Histogram Comparison method", 0, 0, 3, edit_method=histogram_comparison_type)
+
+gen.add("histogram_size", int_t,    2, "Array of histogram sizes in each dimension", 256, 1, 1024)
+gen.add("uniform", bool_t,    3, "Flag indicating whether the histogram is uniform or not", True)
+gen.add("accumulate", bool_t,    4, "Accumulation flag. If it is set, the histogram is not cleared in the beginning when it is allocated", False)
+
+exit(gen.generate(PACKAGE, "compare_histogram", "CompareHistogram"))

launch/intensity_histogram.launch → launch/compare_histogram.launch

@@ -5,12 +5,18 @@
 
   <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
   <arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />
+  <arg name="histogram_size" default="64" doc="number of bins" />
+  <arg name="reference_histogram" default="" doc="reference of histogram comparison" />
 
 
   <!-- intensity_histogram.cpp  -->
-  <node name="$(arg node_name)" pkg="opencv_apps" type="intensity_histogram" >
+  <node name="$(arg node_name)" pkg="opencv_apps" type="compare_histogram" >
     <remap from="image" to="$(arg image)" />
     <param name="debug_view" value="$(arg debug_view)" />
     <param name="queue_size" value="$(arg queue_size)" />
+    <param name="histogram_size" value="$(arg histogram_size)" />
+    <rosparam param="reference_histogram" subst_value="true">
+      $(arg reference_histogram)
+    </rosparam>
   </node>
 </launch>

nodelet_plugins.xml

@@ -123,12 +123,12 @@
     <description>Nodelet to demonstrate the famous watershed segmentation algorithm in OpenCV: watershed()</description>
   </class>
 
-  <class name="opencv_apps/equalize_histogram" type="opencv_apps::EqualizeHistogramNodelet" base_class_type="nodelet::Nodelet">
-    <description>Nodelet for histogram equalization</description>
+  <class name="opencv_apps/compare_histogram" type="opencv_apps::CompareHistogramNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet of compare histogram</description>
   </class>
 
-   <class name="opencv_apps/intensity_histogram" type="opencv_apps::IntensityHistogramNodelet" base_class_type="nodelet::Nodelet">
-    <description>Nodelet of intensity histogram</description>
+  <class name="opencv_apps/equalize_histogram" type="opencv_apps::EqualizeHistogramNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet for histogram equalization</description>
   </class>
 
   <!--