main.cpp

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#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include "ProcessImage.h"

#include "main.hh"
#include "cmdline.h"
#include "LaneDetector.hh"
#include <stdio.h>
#include <fstream>
#include <sstream>
#include <iostream>
#include <iomanip>
#include <ctime>


namespace enc = sensor_msgs::image_encodings;

// Useful message macro
#define MSG(fmt, ...) \
  (fprintf(stdout, "%s:%d msg   " fmt "\n", __FILE__, __LINE__, ##__VA_ARGS__) ? 0 : 0)

// Useful error macro
#define ERROR(fmt, ...) \
  (fprintf(stderr, "%s:%d error " fmt "\n", __FILE__, __LINE__, ##__VA_ARGS__) ? -1 : -1)
using namespace std;
using namespace cv;


Procecess pross;

void sighandler(int sig)
{
        ROS_ERROR("Signal %d caught...",sig);
        cout<<"Shuting down road_recognition"<<endl;
        exit(0);
}


namespace LaneDetector
{
void imageCallback(const sensor_msgs::ImageConstPtr& original_image)
{
        
        cv_bridge::CvImagePtr cv_ptr;
        
        try
        {
                cv_ptr = cv_bridge::toCvCopy(original_image, enc::BGR8);
        }catch (cv_bridge::Exception& e)
        {
                ROS_ERROR("Caltech::main.cpp::cv_bridge exception:%s",e.what());
                exit(0);
        }
        
        
        // elapsed time
        clock_t elapsed = 0;
        
        pross.ProcessImage( cv_ptr->image, NULL, 0,&elapsed);
        double elapsedTime = static_cast<double>(elapsed) / CLOCKS_PER_SEC;     
        MSG("Total time %f secs for 1 image = %f Hz", elapsedTime,
            1. / elapsedTime);
        cv::waitKey(10);
}
}
int main(int argc, char** argv)
{

        ros::init(argc, argv, "caltech_lane");
        // carregar as definições para a class
        pross.Load_config( argc , argv );
        
        ros::NodeHandle nh;
        signal(SIGINT, &sighandler);
        
        /* load all the paramters of the camera */
//      pross.Load_config(argc, argv);
        
        /* Create an ImageTransport instance, initializing it with our NodeHandle. */
        image_transport::ImageTransport it(nh);
        image_transport::Subscriber sub = it.subscribe("image", 1, imageCallback);
// 
//      
        ros::spin();
        ROS_INFO("Caltech::main.cpp::No error.");
}