Histogram based segmentation node. \ Using histogram backprojection, normalization, thresholding and dilate operator. \ Erode operator can be added by uncommenting lines \ in histogram_segmentation.cpp and the corresponding cfg file. More...

#include <boost/filesystem.hpp>
#include <ros/ros.h>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/video/video.hpp>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <dynamic_reconfigure/server.h>
#include <pal_vision_segmentation/HistogramSegmentConfig.h>
#include <pal_vision_segmentation/image_processing.h>
#include <pal_vision_segmentation/histogram.h>

Include dependency graph for histogram_segmentation.cpp:

Go to the source code of this file.

Functions
void	computeHistogramFromFile (const std::string &template_path, cv::MatND &hist)
void	imageCb (const sensor_msgs::ImageConstPtr &msg)
int	main (int argc, char *argv[])
void	reconf_callback (pal_vision_segmentation::HistogramSegmentConfig &config, uint32_t level)
Variables
image_transport::Publisher	debug_pub
int	dilate_iterations
int	dilate_size
int	erode_iterations
int	erode_size
image_transport::Publisher	image_pub
cv::Mat	image_rect
image_transport::Publisher	mask_pub
cv::MatND	target_hist
int	threshold

Detailed Description

Histogram based segmentation node. \ Using histogram backprojection, normalization, thresholding and dilate operator. \ Erode operator can be added by uncommenting lines \ in histogram_segmentation.cpp and the corresponding cfg file.