Add the intensity histogram app

Signed-off-by: Gaël Écorchard <[email protected]>

CMakeLists.txt

@@ -263,7 +263,7 @@ opencv_apps_add_nodelet(camshift src/nodelet/camshift_nodelet.cpp) # ./camshiftd
 # ./create_mask.cpp
 # ./dbt_face_detection.cpp
 # ./delaunay2.cpp
-# ./demhist.cpp
+opencv_apps_add_nodelet(intensity_histogram src/nodelet/intensity_histogram.cpp) # ./demhist.cpp
 # ./detect_blob.cpp
 # ./detect_mser.cpp
 # ./dft.cpp

launch/intensity_histogram.launch

@@ -0,0 +1,16 @@
+<launch>
+  <arg name="node_name" default="intensity_histogram" />
+
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <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" />
+
+
+  <!-- intensity_histogram.cpp  -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="intensity_histogram" >
+    <remap from="image" to="$(arg image)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="queue_size" value="$(arg queue_size)" />
+  </node>
+</launch>

nodelet_plugins.xml

@@ -127,6 +127,10 @@
     <description>Nodelet for histogram equalization</description>
   </class>
 
+   <class name="opencv_apps/intensity_histogram" type="opencv_apps::IntensityHistogramNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet of intensity histogram</description>
+  </class>
+
   <!--
       for backward compatibility, can be removed in M-turtle
   -->

src/nodelet/intensity_histogram.cpp

@@ -0,0 +1,221 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2020, Gaël Écorchard, Czech Technical University.
+*  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 the Gaël Écorchard 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.
+*********************************************************************/
+/**
+ * Compute the histogram of intensities and publish it as an image.
+ */
+
+#include <vector>
+
+#include <cv_bridge/cv_bridge.h>
+//#include <dynamic_reconfigure/server.h>
+#include <image_transport/image_transport.h>
+#include <opencv_apps/nodelet.h>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <ros/ros.h>
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/image_encodings.h>
+
+namespace opencv_apps
+{
+
+namespace intensity_histogram
+{
+
+static const std::string OPENCV_WINDOW = "Image histogram";
+
+cv::Mat grayHistogram(cv_bridge::CvImageConstPtr img)
+{
+  /* 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};
+  cv::Mat intensity_hist;
+  cv::calcHist(&img->image, 1, 0, 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));
+  cv::Mat hist_image(hist_h, hist_w, CV_8UC1, cv::Scalar(0));
+  cv::normalize(intensity_hist, intensity_hist, 0, hist_image.rows, cv::NORM_MINMAX, -1, cv::Mat());
+  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::Scalar(255), 2, 8, 0);
+  }
+  return hist_image;
+}
+
+cv::Mat bgrHistogram(cv_bridge::CvImageConstPtr img)
+{
+  /* 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;
+
+  std::vector<cv::Mat> bgr_planes;
+  cv::split(img->image, bgr_planes);
+
+  float range[] = {0, 256}; //the upper boundary is exclusive
+  const float* hist_range = {range};
+  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);
+  int hist_w = 512;
+  int hist_h = 400;
+  int bin_w = cvRound(static_cast<double>(hist_w / bin_count));
+  cv::Mat hist_image(hist_h, hist_w, CV_8UC3, cv::Scalar(0, 0, 0));
+  cv::normalize(b_hist, b_hist, 0, hist_image.rows, cv::NORM_MINMAX, -1, cv::Mat());
+  cv::normalize(g_hist, g_hist, 0, hist_image.rows, cv::NORM_MINMAX, -1, cv::Mat());
+  cv::normalize(r_hist, r_hist, 0, hist_image.rows, cv::NORM_MINMAX, -1, cv::Mat());
+  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::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::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::Scalar(0, 0, 255), 2, 8, 0);
+  }
+  return hist_image;
+}
+
+class IntensityHistogram
+{
+
+  public:
+
+    IntensityHistogram() :
+      it_(nh_)
+    {
+      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);
+      }
+    }
+
+    ~IntensityHistogram()
+    {
+      if (debug_view_)
+      {
+        cv::destroyWindow(OPENCV_WINDOW);
+      }
+    }
+
+    void imageCallback(const sensor_msgs::ImageConstPtr& msg)
+    {
+      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);
+    }
+
+  private:
+
+    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. */
+
+class IntensityHistogramNodelet : public nodelet::Nodelet
+{
+
+  public:
+
+    virtual void onInit()  // NOLINT(modernize-use-override)
+    {
+      intensity_histogram::IntensityHistogram ih;
+      ros::spin();
+    }
+};
+
+}  /* namespace opencv_apps. */
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(opencv_apps::IntensityHistogramNodelet, nodelet::Nodelet);