equalize_histogram_nodelet.cpp

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// https://github.com/opencv/opencv/blob/2.4/samples/cpp/tutorial_code/Histograms_Matching/EqualizeHist_Demo.cpp
// https://github.com/opencv/opencv/blob/3.4/samples/tapi/clahe.cpp
#include <ros/ros.h>
#include "opencv_apps/nodelet.h"
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>

#if CV_MAJOR_VERSION >= 3
#include "opencv2/core/ocl.hpp"
#else  // OpenCV Version 2 does not have UMat, use Mat instead
namespace cv
{
typedef Mat UMat;
}
#endif
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include <dynamic_reconfigure/server.h>

#include "opencv_apps/EqualizeHistogramConfig.h"

namespace opencv_apps
{
class EqualizeHistogramNodelet : public opencv_apps::Nodelet
{
  std::string window_name_;
  image_transport::Publisher img_pub_;
  image_transport::Subscriber img_sub_;
  image_transport::CameraSubscriber cam_sub_;

  cv::Ptr<cv::CLAHE> clahe_;

  boost::shared_ptr<image_transport::ImageTransport> it_;

  typedef opencv_apps::EqualizeHistogramConfig Config;
  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;

  Config config_;
  boost::shared_ptr<ReconfigureServer> reconfigure_server_;

  int queue_size_;
  bool debug_view_;
#if CV_MAJOR_VERSION >= 3
  bool use_opencl_;
#endif

  cv::Size clahe_tile_size_;
  double clahe_clip_limit_;

  void reconfigureCallback(Config& new_config, uint32_t level)
  {
    config_ = new_config;
    clahe_tile_size_ = cv::Size(config_.clahe_tile_size_x, config_.clahe_tile_size_y);
    clahe_clip_limit_ = config_.clahe_clip_limit;
  }

  void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cam_info)
  {
    doWork(msg, cam_info->header.frame_id);
  }

  void imageCallback(const sensor_msgs::ImageConstPtr& msg)
  {
    doWork(msg, msg->header.frame_id);
  }

  void doWork(const sensor_msgs::ImageConstPtr& msg, const std::string& input_frame_from_msg)
  {
    try
    {
      // Convert the image into something opencv can handle.
      cv::UMat frame;
#if CV_MAJOR_VERSION >= 3
      if (msg->encoding == sensor_msgs::image_encodings::BGR8)
        frame = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::BGR8)->image.getUMat(cv::ACCESS_RW);
      else if (msg->encoding == sensor_msgs::image_encodings::MONO8)
        frame = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::MONO8)->image.getUMat(cv::ACCESS_RW);
#else
      if (msg->encoding == sensor_msgs::image_encodings::BGR8)
        frame = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::BGR8)->image;
      else if (msg->encoding == sensor_msgs::image_encodings::MONO8)
        frame = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::MONO8)->image;
#endif

      if (debug_view_)
      {
        cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);
      }

      // Do the work
      cv::UMat gray, dst;
      if (frame.channels() > 1)
      {
        cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
      }
      else
      {
        frame.copyTo(gray);
      }

      switch (config_.histogram_equalization_type)
      {
        case opencv_apps::EqualizeHistogram_Clahe:
          if (clahe_ == nullptr)
            clahe_ = cv::createCLAHE();
          clahe_->setTilesGridSize(clahe_tile_size_);
          clahe_->setClipLimit(clahe_clip_limit_);
          clahe_->apply(gray, dst);
          break;
        case opencv_apps::EqualizeHistogram_EqualizeHist:
          equalizeHist(gray, dst);
          break;
      }

      //-- Show what you got
      if (debug_view_)
      {
        cv::imshow(window_name_, dst);
        int c = cv::waitKey(1);
      }

      // Publish the image.
#if CV_MAJOR_VERSION >= 3
      sensor_msgs::Image::Ptr out_img =
          cv_bridge::CvImage(msg->header, sensor_msgs::image_encodings::MONO8, dst.getMat(cv::ACCESS_READ)).toImageMsg();
#else
      sensor_msgs::Image::Ptr out_img =
          cv_bridge::CvImage(msg->header, sensor_msgs::image_encodings::MONO8, dst).toImageMsg();
#endif
      out_img->header.frame_id = input_frame_from_msg;
      img_pub_.publish(out_img);
    }
    catch (cv::Exception& e)
    {
      NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
    }
  }

  void subscribe()  // NOLINT(modernize-use-override)
  {
    NODELET_DEBUG("Subscribing to image topic.");
    if (config_.use_camera_info)
      cam_sub_ = it_->subscribeCamera("image", queue_size_, &EqualizeHistogramNodelet::imageCallbackWithInfo, this);
    else
      img_sub_ = it_->subscribe("image", queue_size_, &EqualizeHistogramNodelet::imageCallback, this);
  }

  void unsubscribe()  // NOLINT(modernize-use-override)
  {
    NODELET_DEBUG("Unsubscribing from image topic.");
    img_sub_.shutdown();
    cam_sub_.shutdown();
  }

  void onInit()  // NOLINT(modernize-use-override)
  {
    Nodelet::onInit();
    it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
    pnh_->param("queue_size", queue_size_, 3);
    pnh_->param("debug_view", debug_view_, false);
#if CV_MAJOR_VERSION >= 3
    pnh_->param("use_opencl", use_opencl_, true);
#endif

    window_name_ = "Equalize Histogram Window (" + ros::this_node::getName() + ")";

    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f = boost::bind(
        &EqualizeHistogramNodelet::reconfigureCallback, this, boost::placeholders::_1, boost::placeholders::_2);
    reconfigure_server_->setCallback(f);

    img_pub_ = advertiseImage(*pnh_, "image", 1);

#if CV_MAJOR_VERSION >= 3
    cv::ocl::setUseOpenCL(use_opencl_);
#endif

    onInitPostProcess();
  }
};
}  // namespace opencv_apps

#ifdef USE_PLUGINLIB_CLASS_LIST_MACROS_H
#include <pluginlib/class_list_macros.h>
#else
#include <pluginlib/class_list_macros.hpp>
#endif
PLUGINLIB_EXPORT_CLASS(opencv_apps::EqualizeHistogramNodelet, nodelet::Nodelet);