[10] | 1 | //===================================================================================
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| 2 | // Name : saliencyDetectionHou.h
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| 3 | // Author : Oytun Akman, oytunakman@gmail.com
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| 4 | // Version : 1.0
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| 5 | // Copyright : Copyright (c) 2010 LGPL
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| 6 | // Description : C++ implementation of "Saliency Detection: A Spectral Residual
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| 7 | // Approach" by Xiaodi Hou and Liqing Zhang (CVPR 2007).
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| 8 | //===================================================================================
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| 9 |
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| 10 | #ifndef _SALIENCYMAPHOU_H_INCLUDED_
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| 11 | #define _SALIENCYMAPHOU_H_INCLUDED_
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| 12 |
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| 13 | // ROS
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| 14 | #include <ros/ros.h>
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| 15 | #include "image_transport/image_transport.h"
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| 16 | #include <cv_bridge/cv_bridge.h>
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| 17 | #include <sensor_msgs/image_encodings.h>
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| 18 | #include <sensor_msgs/fill_image.h>
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| 19 | #include <geometry_msgs/Point.h>
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| 20 |
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| 21 | // OpenCV
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| 22 | #include "cv.h"
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| 23 | #include "opencv2/highgui/highgui.hpp"
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| 24 |
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| 25 | using namespace cv;
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| 26 | using namespace std;
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| 27 | namespace enc = sensor_msgs::image_encodings;
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| 28 |
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| 29 | class saliencyMapHou
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| 30 | {
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| 31 | protected:
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| 32 | ros::NodeHandle nh_;
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| 33 | ros::Publisher point_pub_;
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| 34 | image_transport::ImageTransport it_;
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| 35 | image_transport::Subscriber image_sub_;
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| 36 | image_transport::Publisher saliencymap_pub_;
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| 37 |
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| 38 | public:
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| 39 | saliencyMapHou() : nh_("~"), it_(nh_)
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| 40 | {
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| 41 | image_sub_ = it_.subscribe("/rgbimage_in", 1, &saliencyMapHou::imageCB, this);
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| 42 | saliencymap_pub_= it_.advertise("/saliency/image", 1);
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| 43 | point_pub_ = nh_.advertise<geometry_msgs::Point>("/saliency/salientpoint", 1);
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| 44 | }
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| 45 |
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| 46 |
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| 47 | ~saliencyMapHou()
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| 48 | {
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| 49 | nh_.shutdown();
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| 50 | }
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| 51 |
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| 52 | void imageCB(const sensor_msgs::ImageConstPtr& msg_ptr);
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| 53 | void calculateSaliencyMap(const Mat* src, Mat* dst);
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| 54 | };
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| 55 | #endif
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