Merge pull request #1 from k-okada/color-filter

use BGR2HSB, support H from 0-360 and 350 - 360+a

CMakeLists.txt

@@ -34,7 +34,8 @@ generate_dynamic_reconfigure_options(
   cfg/SimpleFlow.cfg
   cfg/Threshold.cfg
   cfg/RGBColorFilter.cfg
-  cfg/HSIColorFilter.cfg
+  cfg/HSLColorFilter.cfg
+  cfg/HSVColorFilter.cfg
   cfg/WatershedSegmentation.cfg
   )
 
@@ -155,7 +156,8 @@ opencv_apps_add_nodelet(discrete_fourier_transform discrete_fourier_transform/di
 opencv_apps_add_nodelet(smoothing smoothing/smoothing src/nodelet/smoothing_nodelet.cpp)  # ./tutorial_code/ImgProc/Smoothing.cpp
 opencv_apps_add_nodelet(threshold threshold/threshold src/nodelet/threshold_nodelet.cpp)  # ./tutorial_code/ImgProc/Threshold.cpp
 opencv_apps_add_nodelet(rgb_color_filter rgb_color_filter/rgb_color_filter src/nodelet/color_filter_nodelet.cpp)  # ./tutorial_code/ImgProc/Threshold_inRange.cpp
-opencv_apps_add_nodelet(hsi_color_filter hsi_color_filter/hsi_color_filter src/nodelet/color_filter_nodelet.cpp)  # ./tutorial_code/ImgProc/Threshold_inRange.cpp
+opencv_apps_add_nodelet(hsl_color_filter hsl_color_filter/hsl_color_filter src/nodelet/color_filter_nodelet.cpp)  # ./tutorial_code/ImgProc/Threshold_inRange.cpp
+opencv_apps_add_nodelet(hsv_color_filter hsv_color_filter/hsv_color_filter src/nodelet/color_filter_nodelet.cpp)  # ./tutorial_code/ImgProc/Threshold_inRange.cpp
 
 # ImgTrans
 opencv_apps_add_nodelet(edge_detection edge_detection/edge_detection src/nodelet/edge_detection_nodelet.cpp) # ./tutorial_code/ImgTrans/CannyDetector_Demo.cpp

cfg/HSLColorFilter.cfg

@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+
+PACKAGE='color_filter'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", True)
+
+gen.add ("h_limit_max", int_t, 0, "The maximum allowed field value Hue", 360, 0, 360)
+gen.add ("h_limit_min", int_t, 0, "The minimum allowed field value Hue", 0, 0, 360)
+gen.add ("s_limit_max", int_t, 0, "The maximum allowed field value Saturation", 256, 0, 256)
+gen.add ("s_limit_min", int_t, 0, "The minimum allowed field value Saturation", 0, 0, 256)
+gen.add ("l_limit_max", int_t, 0, "The maximum allowed field value Lightness", 256, 0, 256)
+gen.add ("l_limit_min", int_t, 0, "The minimum allowed field value Lightness", 0, 0, 256)
+
+exit(gen.generate(PACKAGE, "color_filter", "HSLColorFilter"))

cfg/HSVColorFilter.cfg

@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+
+PACKAGE='color_filter'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", True)
+
+gen.add ("h_limit_max", int_t, 0, "The maximum allowed field value Hue", 360, 0, 360)
+gen.add ("h_limit_min", int_t, 0, "The minimum allowed field value Hue", 0, 0, 360)
+gen.add ("s_limit_max", int_t, 0, "The maximum allowed field value Saturation", 256, 0, 256)
+gen.add ("s_limit_min", int_t, 0, "The minimum allowed field value Saturation", 0, 0, 256)
+gen.add ("v_limit_max", int_t, 0, "The maximum allowed field value Value", 256, 0, 256)
+gen.add ("v_limit_min", int_t, 0, "The minimum allowed field value Value", 0, 0, 256)
+
+exit(gen.generate(PACKAGE, "color_filter", "HSVColorFilter"))

launch/hsi_color_filter.launch → launch/hsl_color_filter.launch

@@ -1,5 +1,5 @@
 <launch>
-  <arg name="node_name" default="hsi_color_filter" />
+  <arg name="node_name" default="hsl_color_filter" />
 
   <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
 
@@ -10,20 +10,19 @@
   <arg name="h_limit_min" default="0" doc="The minimum allowed field value Hue" />
   <arg name="s_limit_max" default="255" doc="The maximum allowed field value Saturation" />
   <arg name="s_limit_min" default="150" doc="The minimum allowed field value Saturation" />
-  <arg name="i_limit_max" default="255" doc="The maximum allowed field value Intensity" />
-  <arg name="i_limit_min" default="50" doc="The minimum allowed field value Intensity" />
+  <arg name="l_limit_max" default="255" doc="The maximum allowed field value Luminance" />
+  <arg name="l_limit_min" default="50" doc="The minimum allowed field value Luminance" />
 
   <!-- color_filter.cpp  -->
-  <node name="$(arg node_name)" pkg="opencv_apps" type="hsi_color_filter" output="screen">
+  <node name="$(arg node_name)" pkg="opencv_apps" type="hsl_color_filter" output="screen">
     <remap from="image" to="$(arg image)" />
-    <!-- <remap from="image" to="/image_publisher/output" /> -->
     <param name="use_camera_info" value="$(arg use_camera_info)" />
     <param name="debug_view" value="$(arg debug_view)" />
     <param name="h_limit_max" value="$(arg h_limit_max)" />
     <param name="h_limit_min" value="$(arg h_limit_min)" />
     <param name="s_limit_max" value="$(arg s_limit_max)" />
     <param name="s_limit_min" value="$(arg s_limit_min)" />
-    <param name="i_limit_max" value="$(arg i_limit_max)" />
-    <param name="i_limit_min" value="$(arg i_limit_min)" />
+    <param name="l_limit_max" value="$(arg l_limit_max)" />
+    <param name="l_limit_min" value="$(arg l_limit_min)" />
   </node>
 </launch>

nodelet_plugins.xml

@@ -91,8 +91,12 @@
     <description>Nodelet of rgb color filter</description>
    </class>
 
-   <class name="hsi_color_filter/hsi_color_filter" type="color_filter::HSIColorFilterNodelet" base_class_type="nodelet::Nodelet">
-    <description>Nodelet of hsi color filter</description>
+   <class name="hls_color_filter/hsi_color_filter" type="color_filter::HLSColorFilterNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet of hls color filter</description>
+   </class>
+
+   <class name="hsv_color_filter/hsi_color_filter" type="color_filter::HSVColorFilterNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet of hsv color filter</description>
    </class>
 
   <class name="watershed_segmentation/watershed_segmentation" type="watershed_segmentation::WatershedSegmentationNodelet" base_class_type="nodelet::Nodelet">

src/nodelet/color_filter_nodelet.cpp

@@ -43,11 +43,13 @@
 
 #include <dynamic_reconfigure/server.h>
 #include "opencv_apps/RGBColorFilterConfig.h"
-#include "opencv_apps/HSIColorFilterConfig.h"
+#include "opencv_apps/HSLColorFilterConfig.h"
+#include "opencv_apps/HSVColorFilterConfig.h"
 
 namespace color_filter {
 class RGBColorFilter;
-class HSIColorFilter;
+class HSLColorFilter;
+class HSVColorFilter;
 
 template <typename Config>
 class ColorFilterNodelet : public opencv_apps::Nodelet
@@ -223,52 +225,123 @@ class RGBColorFilterNodelet
   }
 };
 
-class HSIColorFilterNodelet
-  : public ColorFilterNodelet<color_filter::HSIColorFilterConfig> {
+class HSLColorFilterNodelet
+  : public ColorFilterNodelet<color_filter::HSLColorFilterConfig> {
 protected:
   int h_min_;
   int h_max_;
   int s_min_;
   int s_max_;
-  int i_min_;
-  int i_max_;
+  int l_min_;
+  int l_max_;
 
-  virtual void reconfigureCallback(color_filter::HSIColorFilterConfig& config,
+  virtual void reconfigureCallback(color_filter::HSLColorFilterConfig& config,
                                    uint32_t level) {
     boost::mutex::scoped_lock lock(mutex_);
     config_ = config;
     h_max_ = config.h_limit_max;
     h_min_ = config.h_limit_min;
     s_max_ = config.s_limit_max;
     s_min_ = config.s_limit_min;
-    i_max_ = config.i_limit_max;
-    i_min_ = config.i_limit_min;
+    l_max_ = config.l_limit_max;
+    l_min_ = config.l_limit_min;
     updateCondition();
   }
 
   virtual void updateCondition() {
-    if (h_max_ < h_min_) std::swap(h_max_, h_min_);
     if (s_max_ < s_min_) std::swap(s_max_, s_min_);
-    if (i_max_ < i_min_) std::swap(i_max_, i_min_);
-    lower_color_range_ = cv::Scalar(h_min_, s_min_, i_min_, 0);
-    upper_color_range_ = cv::Scalar(h_max_, s_max_, i_max_, 0);
+    if (l_max_ < l_min_) std::swap(l_max_, l_min_);
+    lower_color_range_ = cv::Scalar(h_min_/2, l_min_, s_min_, 0);
+    upper_color_range_ = cv::Scalar(h_max_/2, l_max_, s_max_, 0);
+  }
+
+  virtual void filter(const cv::Mat& input_image, cv::Mat& output_image) {
+    cv::Mat hls_image;
+    cv::cvtColor(input_image, hls_image, cv::COLOR_BGR2HLS);
+    if ( lower_color_range_[0] < upper_color_range_[0] ) {
+      cv::inRange(hls_image, lower_color_range_, upper_color_range_,
+                  output_image);
+    }else {
+      cv::Scalar lower_color_range_0 = cv::Scalar(       0, l_min_, s_min_, 0);
+      cv::Scalar upper_color_range_0 = cv::Scalar(h_max_/2, l_max_, s_max_, 0);
+      cv::Scalar lower_color_range_360 = cv::Scalar(h_min_/2, l_min_, s_min_, 0);
+      cv::Scalar upper_color_range_360 = cv::Scalar(   360/2, l_max_, s_max_, 0);
+      cv::Mat output_image_0, output_image_360;
+      cv::inRange(hls_image, lower_color_range_0, upper_color_range_0, output_image_0);
+      cv::inRange(hls_image, lower_color_range_360, upper_color_range_360, output_image_360);
+      output_image = output_image_0 | output_image_360;
+    }
+  }
+
+public:
+  virtual void onInit() {
+    h_max_ = 360;
+    h_min_ = 0;
+    s_max_ = 256;
+    s_min_ = 0;
+    l_max_ = 256;
+    l_min_ = 0;
+
+    ColorFilterNodelet::onInit();
+  }
+};
+
+class HSVColorFilterNodelet
+  : public ColorFilterNodelet<color_filter::HSVColorFilterConfig> {
+protected:
+  int h_min_;
+  int h_max_;
+  int s_min_;
+  int s_max_;
+  int v_min_;
+  int v_max_;
+
+  virtual void reconfigureCallback(color_filter::HSVColorFilterConfig& config,
+                                   uint32_t level) {
+    boost::mutex::scoped_lock lock(mutex_);
+    config_ = config;
+    h_max_ = config.h_limit_max;
+    h_min_ = config.h_limit_min;
+    s_max_ = config.s_limit_max;
+    s_min_ = config.s_limit_min;
+    v_max_ = config.v_limit_max;
+    v_min_ = config.v_limit_min;
+    updateCondition();
+  }
+
+  virtual void updateCondition() {
+    if (s_max_ < s_min_) std::swap(s_max_, s_min_);
+    if (v_max_ < v_min_) std::swap(v_max_, v_min_);
+    lower_color_range_ = cv::Scalar(h_min_/2, s_min_, v_min_, 0);
+    upper_color_range_ = cv::Scalar(h_max_/2, s_max_, v_max_, 0);
   }
 
   virtual void filter(const cv::Mat& input_image, cv::Mat& output_image) {
     cv::Mat hsv_image;
     cv::cvtColor(input_image, hsv_image, cv::COLOR_BGR2HSV);
-    cv::inRange(hsv_image, lower_color_range_, upper_color_range_,
-                output_image);
+    if ( lower_color_range_[0] < upper_color_range_[0] ) {
+      cv::inRange(hsv_image, lower_color_range_, upper_color_range_,
+                  output_image);
+    }else {
+      cv::Scalar lower_color_range_0 = cv::Scalar(       0, s_min_, v_min_, 0);
+      cv::Scalar upper_color_range_0 = cv::Scalar(h_max_/2, s_max_, v_max_, 0);
+      cv::Scalar lower_color_range_360 = cv::Scalar(h_min_/2, s_min_, v_min_, 0);
+      cv::Scalar upper_color_range_360 = cv::Scalar(   360/2, s_max_, v_max_, 0);
+      cv::Mat output_image_0, output_image_360;
+      cv::inRange(hsv_image, lower_color_range_0, upper_color_range_0, output_image_0);
+      cv::inRange(hsv_image, lower_color_range_360, upper_color_range_360, output_image_360);
+      output_image = output_image_0 | output_image_360;
+    }
   }
 
 public:
   virtual void onInit() {
-    h_max_ = 255;
+    h_max_ = 360;
     h_min_ = 0;
-    s_max_ = 255;
+    s_max_ = 256;
     s_min_ = 0;
-    i_max_ = 255;
-    i_min_ = 0;
+    v_max_ = 256;
+    v_min_ = 0;
 
     ColorFilterNodelet::onInit();
   }
@@ -278,6 +351,8 @@ class HSIColorFilterNodelet
 
 #include <pluginlib/class_list_macros.h>
 typedef color_filter::RGBColorFilterNodelet RGBColorFilterNodelet;
-typedef color_filter::HSIColorFilterNodelet HSIColorFilterNodelet;
+typedef color_filter::HSLColorFilterNodelet HSLColorFilterNodelet;
+typedef color_filter::HSVColorFilterNodelet HSVColorFilterNodelet;
 PLUGINLIB_EXPORT_CLASS(color_filter::RGBColorFilterNodelet, nodelet::Nodelet);
-PLUGINLIB_EXPORT_CLASS(color_filter::HSIColorFilterNodelet, nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS(color_filter::HSLColorFilterNodelet, nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS(color_filter::HSVColorFilterNodelet, nodelet::Nodelet);

test/test-hsi_color_filter.test → test/test-hsl_color_filter.test

@@ -7,23 +7,23 @@
     <node name="image_view" pkg="image_view" type="image_view" args="image:=image_rect_color" if="$(arg gui)" />
 
     <!-- color_filter.cpp  -->
-    <include file="$(find opencv_apps)/launch/hsi_color_filter.launch" >
+    <include file="$(find opencv_apps)/launch/hsl_color_filter.launch" >
       <arg name="debug_view" value="$(arg gui)" />
       <arg name="image" value="image_rect_color" />
       <arg name="h_limit_max" value="50" />
       <arg name="h_limit_min" value="0" />
       <arg name="s_limit_max" value="200" />
       <arg name="s_limit_min" value="90" />
-      <arg name="i_limit_max" value="255" />
-      <arg name="i_limit_min" value="60" />
+      <arg name="l_limit_max" value="255" />
+      <arg name="l_limit_min" value="60" />
     </include>
 
     <!-- Test Codes -->
-    <node name="hsi_color_filter_saver" pkg="image_view" type="image_saver" args="image:=hsi_color_filter/image" >
-      <param name="filename_format" value="$(find opencv_apps)/test/hsi_color_filter.png"/>
+    <node name="hsl_color_filter_saver" pkg="image_view" type="image_saver" args="image:=hsl_color_filter/image" >
+      <param name="filename_format" value="$(find opencv_apps)/test/hsl_color_filter.png"/>
     </node>
-    <param name="hsi_color_filter_test/topic" value="hsi_color_filter/image" />
-    <test test-name="hsi_color_filter_test" pkg="rostest" type="hztest" name="hsi_color_filter_test" >
+    <param name="hsl_color_filter_test/topic" value="hsl_color_filter/image" />
+    <test test-name="hsl_color_filter_test" pkg="rostest" type="hztest" name="hsl_color_filter_test" >
       <param name="hz" value="20" />
       <param name="hzerror" value="15" />
       <param name="test_duration" value="5.0" />