00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #ifndef JSK_RECOGNITION_UTILS_CV_UTILS_H_ 00037 #define JSK_RECOGNITION_UTILS_CV_UTILS_H_ 00038 00039 #include <opencv2/opencv.hpp> 00040 #include <jsk_recognition_msgs/HistogramWithRangeBin.h> 00041 00042 namespace jsk_recognition_utils 00043 { 00051 cv::MatND computeHistogram(const cv::Mat& input_image, int bin_size, 00052 float min_value, float max_value, 00053 const cv::Mat& mask_image); 00054 00059 std::vector<jsk_recognition_msgs::HistogramWithRangeBin> 00060 cvMatNDToHistogramWithRangeBinArray(const cv::MatND& cv_hist, float min_value, float max_value); 00061 00066 bool compareHistogramWithRangeBin(const jsk_recognition_msgs::HistogramWithRangeBin& left, 00067 const jsk_recognition_msgs::HistogramWithRangeBin& right); 00068 00074 void sortHistogramWithRangeBinArray(std::vector<jsk_recognition_msgs::HistogramWithRangeBin>& bins); 00075 00081 std::vector<jsk_recognition_msgs::HistogramWithRangeBin> 00082 topNHistogramWithRangeBins(const std::vector<jsk_recognition_msgs::HistogramWithRangeBin>& bins, 00083 double top_n_rate); 00084 00089 void 00090 drawHistogramWithRangeBin(cv::Mat& image, 00091 const jsk_recognition_msgs::HistogramWithRangeBin& bin, 00092 float min_width_value, 00093 float max_width_value, 00094 float max_height_value, 00095 cv::Scalar color); 00096 } 00097 00098 #endif