| 1 | //===================================================================================
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| 2 | // Name : saliencyDetectionHou.cpp
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| 3 | // Author : Oytun Akman, oytunakman@gmail.com
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| 4 | // Editor : Joris van de Weem, joris.vdweem@gmail.com (Conversion to ROS)
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| 5 | // Version : 1.2
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| 6 | // Copyright : Copyright (c) 2010 LGPL
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| 7 | // Description : C++ implementation of "Saliency Detection: A Spectral Residual
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| 8 | // Approach" by Xiaodi Hou and Liqing Zhang (CVPR 2007).
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| 9 | //===================================================================================
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| 10 | // v1.1: Changed Gaussianblur of logamplitude to averaging blur and gaussian kernel of saliency map to sigma = 8, kernelsize = 5
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| 11 | // for better consistency with the paper. (Joris)
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| 12 | // v1.2: Ported to Robot Operating System (ROS) (Joris)
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| 13 |
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| 14 | #include <saliency_detection/saliencyDetectionHou.h>
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| 15 |
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| 16 |
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| 17 | void saliencyMapHou::imageCB(const sensor_msgs::ImageConstPtr& msg_ptr)
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| 18 | {
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| 19 | cv_bridge::CvImagePtr cv_ptr;
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| 20 | sensor_msgs::Image salmap_;
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| 21 | geometry_msgs::Point salientpoint_;
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| 22 |
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| 23 | Mat image_, saliencymap_;
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| 24 | Point pt_salient;
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| 25 | double maxVal;
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| 26 |
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| 27 | try
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| 28 | {
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| 29 | cv_ptr = cv_bridge::toCvCopy(msg_ptr, enc::BGR8);
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| 30 | }
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| 31 | catch (cv_bridge::Exception& e)
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| 32 | {
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| 33 | ROS_ERROR("cv_bridge exception: %s", e.what());
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| 34 | }
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| 35 | cv_ptr->image.copyTo(image_);
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| 36 |
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| 37 | saliencymap_.create(image_.size(),CV_8UC1);
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| 38 | saliencyMapHou::calculateSaliencyMap(&image_, &saliencymap_);
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| 39 |
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| 40 | //-- Return most salient point --//
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| 41 | cv::minMaxLoc(saliencymap_,NULL,&maxVal,NULL,&pt_salient);
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| 42 | salientpoint_.x = pt_salient.x;
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| 43 | salientpoint_.y = pt_salient.y;
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| 44 |
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| 45 |
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| 46 | // CONVERT FROM CV::MAT TO ROSIMAGE FOR PUBLISHING
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| 47 | saliencymap_.convertTo(saliencymap_, CV_8UC1,255);
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| 48 | fillImage(salmap_, "mono8",saliencymap_.rows, saliencymap_.cols, saliencymap_.step, const_cast<uint8_t*>(saliencymap_.data));
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| 49 |
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| 50 | saliencymap_pub_.publish(salmap_);
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| 51 | point_pub_.publish(salientpoint_);
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| 52 |
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| 53 | return;
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| 54 | }
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| 55 |
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| 56 |
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| 57 | void saliencyMapHou::calculateSaliencyMap(const Mat* src, Mat* dst)
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| 58 | {
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| 59 | Mat grayTemp, grayDown;
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| 60 | vector<Mat> mv;
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| 61 | //Size imageSize(160,120);
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| 62 | Size imageSize(64,64);
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| 63 | Mat realImage(imageSize,CV_64F);
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| 64 | Mat imaginaryImage(imageSize,CV_64F); imaginaryImage.setTo(0);
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| 65 | Mat combinedImage(imageSize,CV_64FC2);
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| 66 | Mat imageDFT;
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| 67 | Mat logAmplitude;
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| 68 | Mat angle(imageSize,CV_64F);
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| 69 | Mat magnitude(imageSize,CV_64F);
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| 70 | Mat logAmplitude_blur;
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| 71 |
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| 72 | cvtColor(*src, grayTemp, CV_BGR2GRAY);
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| 73 | resize(grayTemp, grayDown, imageSize, 0, 0, INTER_LINEAR);
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| 74 | for(int j=0; j<grayDown.rows;j++)
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| 75 | for(int i=0; i<grayDown.cols; i++)
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| 76 | realImage.at<double>(j,i) = grayDown.at<uchar>(j,i);
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| 77 |
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| 78 | mv.push_back(realImage);
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| 79 | mv.push_back(imaginaryImage);
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| 80 | merge(mv,combinedImage);
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| 81 | dft( combinedImage, imageDFT);
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| 82 | split(imageDFT, mv);
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| 83 |
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| 84 | //-- Get magnitude and phase of frequency spectrum --//
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| 85 | cartToPolar(mv.at(0), mv.at(1), magnitude, angle, false);
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| 86 | log(magnitude,logAmplitude);
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| 87 | //-- Blur log amplitude with averaging filter --//
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| 88 | blur(logAmplitude, logAmplitude_blur, Size(3,3), Point(-1,-1), BORDER_DEFAULT);
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| 89 |
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| 90 | exp(logAmplitude - logAmplitude_blur,magnitude);
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| 91 | //-- Back to cartesian frequency domain --//
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| 92 | polarToCart(magnitude, angle, mv.at(0), mv.at(1), false);
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| 93 | merge(mv, imageDFT);
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| 94 | dft( imageDFT, combinedImage, CV_DXT_INVERSE);
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| 95 | split(combinedImage, mv);
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| 96 |
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| 97 | cartToPolar(mv.at(0), mv.at(1), magnitude, angle, false);
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| 98 | GaussianBlur(magnitude, magnitude, Size(5,5), 8, 0, BORDER_DEFAULT);
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| 99 | magnitude = magnitude.mul(magnitude);
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| 100 |
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| 101 | double minVal,maxVal;
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| 102 | minMaxLoc(magnitude, &minVal, &maxVal);
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| 103 | magnitude = magnitude / maxVal;
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| 104 |
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| 105 | Mat tempFloat(imageSize,CV_32F);
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| 106 | for(int j=0; j<magnitude.rows;j++)
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| 107 | for(int i=0; i<magnitude.cols; i++)
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| 108 | tempFloat.at<float>(j,i) = magnitude.at<double>(j,i);
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| 109 |
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| 110 | resize(tempFloat, *dst, dst->size(), 0, 0, INTER_LINEAR);
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| 111 | }
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| 112 |
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| 113 | int main(int argc, char **argv)
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| 114 | {
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| 115 | ros::init(argc, argv, "saliencymap");
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| 116 |
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| 117 | saliencyMapHou salmapHou;
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| 118 |
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| 119 | ros::spin();
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| 120 |
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| 121 | return 0;
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| 122 | }
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