[10] | 1 | //===================================================================================
|
---|
| 2 | // Name : saliencyDetectionItti.h
|
---|
| 3 | // Author : Oytun Akman, oytunakman@gmail.com
|
---|
| 4 | // Version : 1.0
|
---|
| 5 | // Copyright : Copyright (c) 2010 LGPL
|
---|
| 6 | // Description : C++ implementation of "A Model of Saliency-Based Visual Attention
|
---|
| 7 | // for Rapid Scene Analysis" by Laurent Itti, Christof Koch and Ernst
|
---|
| 8 | // Niebur (PAMI 1998).
|
---|
| 9 | //===================================================================================
|
---|
| 10 |
|
---|
| 11 | #ifndef _SALIENCYMAPITTI_H_INCLUDED_
|
---|
| 12 | #define _SALIENCYMAPITTI_H_INCLUDED_
|
---|
| 13 | // ROS
|
---|
| 14 | #include <ros/ros.h>
|
---|
| 15 | #include "image_transport/image_transport.h"
|
---|
| 16 | #include <cv_bridge/cv_bridge.h>
|
---|
| 17 | #include <sensor_msgs/image_encodings.h>
|
---|
| 18 | #include <sensor_msgs/fill_image.h>
|
---|
| 19 | #include <geometry_msgs/Point.h>
|
---|
| 20 |
|
---|
| 21 | // OpenCV
|
---|
| 22 | #include "cv.h"
|
---|
| 23 | #include "opencv2/highgui/highgui.hpp"
|
---|
| 24 |
|
---|
| 25 | using namespace cv;
|
---|
| 26 | using namespace std;
|
---|
| 27 | namespace enc = sensor_msgs::image_encodings;
|
---|
| 28 |
|
---|
| 29 | class saliencyMapItti
|
---|
| 30 | {
|
---|
| 31 | protected:
|
---|
| 32 | ros::NodeHandle nh_;
|
---|
| 33 | ros::Publisher point_pub_;
|
---|
| 34 | image_transport::ImageTransport it_;
|
---|
| 35 | image_transport::Subscriber image_sub_;
|
---|
| 36 | image_transport::Publisher saliencymap_pub_;
|
---|
| 37 |
|
---|
| 38 | public:
|
---|
| 39 | saliencyMapItti() : nh_("~"), it_(nh_)
|
---|
| 40 | {
|
---|
| 41 | image_sub_ = it_.subscribe("/rgbimage_in", 1, &saliencyMapItti::imageCB, this);
|
---|
| 42 | saliencymap_pub_= it_.advertise("/saliency/image", 1);
|
---|
| 43 | point_pub_ = nh_.advertise<geometry_msgs::Point>("/saliency/salientpoint", 1);
|
---|
| 44 | }
|
---|
| 45 |
|
---|
| 46 |
|
---|
| 47 | ~saliencyMapItti()
|
---|
| 48 | {
|
---|
| 49 | nh_.shutdown();
|
---|
| 50 | }
|
---|
| 51 |
|
---|
| 52 | void imageCB(const sensor_msgs::ImageConstPtr& msg_ptr);
|
---|
| 53 | void calculateSaliencyMap(const Mat* src, Mat* dst, int scaleBase);
|
---|
| 54 | void combineFeatureMaps(int scale);
|
---|
| 55 |
|
---|
| 56 | Mat conspicuityMap_I;
|
---|
| 57 | Mat conspicuityMap_C;
|
---|
| 58 | Mat conspicuityMap_O;
|
---|
| 59 | Mat S;
|
---|
| 60 |
|
---|
| 61 | private:
|
---|
| 62 | Mat r,g,b,R,G,B,Y,I;
|
---|
| 63 | vector<Mat> gaussianPyramid_I;
|
---|
| 64 | vector<Mat> gaussianPyramid_R;
|
---|
| 65 | vector<Mat> gaussianPyramid_G;
|
---|
| 66 | vector<Mat> gaussianPyramid_B;
|
---|
| 67 | vector<Mat> gaussianPyramid_Y;
|
---|
| 68 |
|
---|
| 69 | void createChannels(const Mat* src);
|
---|
| 70 | void createScaleSpace(const Mat* src, vector<Mat>* dst, int scale);
|
---|
| 71 |
|
---|
| 72 | void normalize_rgb();
|
---|
| 73 | void create_RGBY();
|
---|
| 74 | void createIntensityFeatureMaps();
|
---|
| 75 | void createColorFeatureMaps();
|
---|
| 76 | void createOrientationFeatureMaps(int orientation);
|
---|
| 77 | void mapNormalization(Mat* src);
|
---|
| 78 | void clearBuffers();
|
---|
| 79 |
|
---|
| 80 | vector<Mat> featureMaps_I;
|
---|
| 81 | vector<Mat> featureMaps_RG;
|
---|
| 82 | vector<Mat> featureMaps_BY;
|
---|
| 83 | vector<Mat> featureMaps_0;
|
---|
| 84 | vector<Mat> featureMaps_45;
|
---|
| 85 | vector<Mat> featureMaps_90;
|
---|
| 86 | vector<Mat> featureMaps_135;
|
---|
| 87 | };
|
---|
| 88 | #endif
|
---|