int main(int argc, char *argv[]) {
/* Load the image and convert to Lab colour space. */
cv::Mat image = cv::imread(argv[1], 1);
cv::Mat lab_image;
cv::cvtColor(image, lab_image, CV_BGR2Lab);
/* Yield the number of superpixels and weight-factors from the user. */
int w = image.cols, h = image.rows;
int nr_superpixels = atoi(argv[2]);
int nc = atoi(argv[3]);
double step = sqrt((w * h) / (double) nr_superpixels);
/* Perform the SLIC superpixel algorithm. */
Slic slic;
slic.generate_superpixels(lab_image, step, nc);
slic.create_connectivity(lab_image);
std::vector<std::vector<cv::Point> > pointSets = slic.generatePointSets(image);
/* Display the contours and show the result. */
// slic.colour_with_cluster_means(image);
slic.display_contours(image, cv::Vec3b(0,0,255));
std::vector<std::vector<int> > edges = slic.generateGraph(image);
slic.displayGraph(image, edges, cv::Vec3b(0,255,255));
slic.display_center_grid(image, cv::Vec3b(0, 0, 0));
// std::vector<std::vector<cv::Point> > polys = slic.generateBoundingPolys(image);
// slic.displayBoundingPolys(image, polys, cv::Vec3b(255,0,0));
// std::vector<cv::Rect> boxes = slic.generateBoundingBoxes(image);
// slic.displayBoundingBoxes(image, boxes, cv::Vec3b(0, 255, 255));
// std::vector<cv::RotatedRect> boxes = slic.generateRotBoundingBoxes(image);
// slic.displayRotBoundingBoxes(image, boxes, cv::Vec3b(0, 255, 255));
// std::cout << boxes[0].size() << std::endl;
cv::namedWindow("result", CV_WINDOW_AUTOSIZE);
cv::imshow("result", image);
cv::waitKey(0);
cv::imwrite(argv[4], image);
}
void SLICSuperPixels::imageCallback(const sensor_msgs::Image::ConstPtr& image)
{
boost::mutex::scoped_lock lock(mutex_);
cv::Mat in_image = cv_bridge::toCvShare(image, image->encoding)->image;
cv::Mat bgr_image;
if (in_image.channels() == 1) {
// gray image
cv::cvtColor(in_image, bgr_image, CV_GRAY2BGR);
}
else if (image->encoding == sensor_msgs::image_encodings::RGB8) {
// convert to BGR8
cv::cvtColor(in_image, bgr_image, CV_RGB2BGR);
}
else {
bgr_image = in_image;
}
//cv::Mat bgr_image = cv_ptr->image;
cv::Mat lab_image, out_image, mean_color_image, center_grid_image;
// slic
if (debug_image_) {
bgr_image.copyTo(out_image);
bgr_image.copyTo(mean_color_image);
bgr_image.copyTo(center_grid_image);
}
cv::cvtColor(bgr_image, lab_image, CV_BGR2Lab);
int w = image->width, h = image->height;
double step = sqrt((w * h) / (double) number_of_super_pixels_);
Slic slic;
slic.generate_superpixels(lab_image, step, weight_);
slic.create_connectivity(lab_image);
if (debug_image_) {
// creating debug image may occur seg fault.
// So, publish_debug_images was added, in order to create debug image explicitly
// See https://github.com/jsk-ros-pkg/jsk_recognition/pull/2181
slic.colour_with_cluster_means(mean_color_image);
slic.display_center_grid(center_grid_image, cv::Scalar(0, 0, 255));
slic.display_contours(out_image, cv::Vec3b(0,0,255));
pub_debug_.publish(cv_bridge::CvImage(
image->header,
sensor_msgs::image_encodings::BGR8,
out_image).toImageMsg());
pub_debug_mean_color_.publish(cv_bridge::CvImage(
image->header,
sensor_msgs::image_encodings::BGR8,
mean_color_image).toImageMsg());
pub_debug_center_grid_.publish(cv_bridge::CvImage(
image->header,
sensor_msgs::image_encodings::BGR8,
center_grid_image).toImageMsg());
}
// publish clusters
cv::Mat clusters;
cv::transpose(slic.clusters, clusters);
clusters = clusters + cv::Scalar(1);
pub_.publish(cv_bridge::CvImage(
image->header,
sensor_msgs::image_encodings::TYPE_32SC1,
clusters).toImageMsg());
}
