clientimg.cpp

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#include "peddetect.h"

class ImageConverter
{
  ros::NodeHandle nh_;
  image_transport::ImageTransport it_;
  image_transport::Subscriber image_sub_;
  image_transport::Publisher image_pub_;

  Mat xsobel, ysobel, GrayImg, xsobeldiv, div, integralim, GradMag,
    IntegralChns;

  MatVector BinVect, LUVchannels;

  d10Vector features;

  int ImgCount;
  cv_bridge::CvImagePtr cv_ptr;

public:

ImageConverter ():
  it_ (nh_)
  {

    ImgCount = 0;
    image_pub_ = it_.advertise ("Image_Out", 1);
    image_sub_ =
      it_.subscribe ("Image_In", 1, &ImageConverter::imageCb, this);

  }

  ~ImageConverter ()
  {

  }

  void imageCb (const sensor_msgs::ImageConstPtr & msg)
  {




    try
    {

      cv_ptr = cv_bridge::toCvCopy (msg, "rgb8");

      cv_ptr->image.convertTo (cv_ptr->image, CV_8UC1);

    }
    catch (cv_bridge::Exception & e)
    {
      ROS_ERROR ("cv_bridge exception: %s", e.what ());
      return;
    }
    Mat Img = cv_ptr->image;

    if (Img.rows == 0)
      return;
    
    //     ROS_INFO ("Image nr %d\n", ImgCount++);

    Mat MergedChannels (Img.rows, Img.cols, CV_64FC (CHANNELNR));



    cvtColor (Img, Img, CV_BGR2RGB, 0);

    cvtColor (Img, GrayImg, CV_RGB2GRAY, 0);

    features.clear ();

    Sobel (GrayImg, xsobel, CV_64FC1, 1, 0, 3, 1, 0, BORDER_DEFAULT);
    Sobel (GrayImg, ysobel, CV_64FC1, 0, 1, 3, 1, 0, BORDER_DEFAULT);

    GradMag = GradientMagnitude (xsobel, ysobel);

    BinVect = OrientedGradientsDiagram (GradMag, xsobel, ysobel);

    LUVchannels = LUVcolourchannels (Img);

    Mat ToBeMergedChannels[] =
      { GradMag, BinVect[0], BinVect[1], BinVect[2], BinVect[3], BinVect[4],
      BinVect[5], LUVchannels[0], LUVchannels[1], LUVchannels[2]
    };


    merge (ToBeMergedChannels, CHANNELNR, MergedChannels);

    integral (GradMag, integralim, CV_64F);

    integral (MergedChannels, IntegralChns, CV_64FC (CHANNELNR));


    CvRect region;
    region.x = 0;
    region.y = 0;
    region.width = 15;
    region.height = 90;

    GetChnFtrsOverImage (IntegralChns, region, features);
    
    cout<<features.size()<<endl;

    cvtColor (Img, GrayImg, CV_RGB2GRAY, 0);


    cv_ptr->image = BinVect[0];



    sensor_msgs::ImagePtr msg_out = cv_ptr->toImageMsg ();
    msg_out->encoding = "64FC1";
    msg_out->header.frame_id = "Image_Out";
    msg_out->header.stamp = ros::Time::now ();


    image_pub_.publish (msg_out);


  }

};

int main (int argc, char **argv)
{
  ros::init (argc, argv, "image_converter");
  ImageConverter ic;
  ros::spin ();
  return 0;
}