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

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)
void	removeDarkPixels (const cv::Mat &originalImg, cv::Mat &binaryImg, int threshold=10)
	removeDarkPixels given a BGR image and a binary image computed from it, removes the white pixel in the latter corresponding to low luminosity pixels in the former one.
Variables
int	dark_pixels_threshold
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.

Author:: Bence Magyar

Date:: May 2012

Definition in file histogram_segmentation.cpp.

Function Documentation

void computeHistogramFromFile	(	const std::string &	template_path,
		cv::MatND &	hist
	)

Definition at line 197 of file histogram_segmentation.cpp.

void imageCb ( const sensor_msgs::ImageConstPtr & msg )

Definition at line 107 of file histogram_segmentation.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 256 of file histogram_segmentation.cpp.

void reconf_callback	(	pal_vision_segmentation::HistogramSegmentConfig &	config,
		uint32_t	level
	)

Definition at line 187 of file histogram_segmentation.cpp.

void removeDarkPixels	(	const cv::Mat &	originalImg,
		cv::Mat &	binaryImg,
		int	threshold = `10`
	)

removeDarkPixels given a BGR image and a binary image computed from it, removes the white pixel in the latter corresponding to low luminosity pixels in the former one.

Parameters: