clientimg_deprecated.cpp

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 #include "peddetect.h"
 
//  1 - NoPed
//  2 - Ped

class ImageConverter
{
  ros::NodeHandle nh_;
  image_transport::ImageTransport it_;
  image_transport::Subscriber image_sub_;
  image_transport::Publisher image_pub_;
  int ImgCount;
  cv_bridge::CvImagePtr cv_ptr;
  DVector features;
  CvRect region; 
  Size minSize;
  FtrVecParams randparams;
  vector<DVector> WindowFtrs;
  CvBoost boost;
  int nPedcount;
  int Pedcount;
  
  
public:

ImageConverter ():
  it_ (nh_)
  {

    ImgCount = 1;
    image_pub_ = it_.advertise ("Image_Out", 1);
    image_sub_ =
    it_.subscribe ("Image_In", 1, &ImageConverter::imageCb, this);
    
    region.x = 0; region.y = 0; region.width = DWWIDTH; region.height = DWHEIGHT;
    minSize.width=region.width; minSize.height=region.height;
    
    GetRandParams(SEED,NRFEATURE, randparams, region);
    boost.load("/home/pedrobatista/workingcopy/lar3/perception/pedestrians/PedestrianDetect/trained_boost_8030samples-1000ftrs.xml");
    nPedcount = 0;
    Pedcount=0;
    
    

  }

  ~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;
    
      if (Img.rows<162)
      {
      Size win; win.width=DWWIDTH; win.height=DWHEIGHT;
      
      resize(Img, Img, win , 0, 0, INTER_LINEAR);
      }
      
    
    
      
      
    cvtColor (Img, Img, CV_BGR2RGB, 0);

    features.clear ();
    WindowFtrs.clear();

    GetChnFtrsOverImagePyramid(Img , region , features, WindowFtrs ,0, minSize, 8 , randparams);
    

    Mat Test;
    
    for(uint n=0;n<WindowFtrs.size();n++)
    {
      
      Test=Mat::zeros(1,NRFEATURE,CV_32FC1);
      
      for(uint i=0; i<NRFEATURE; i++)
      {
        
        Test.at<float>(0,i)=WindowFtrs[n][i];
        
      } 
        float x = boost.predict(Test,Mat(),Range::all(),false,false);
        if (x==1) nPedcount++;
        if (x==2) Pedcount++;
        
    }
   cout<<"No Ped: "<<nPedcount<<" Ped: "<<Pedcount<<endl;
//    
//    Pedcount=0; nPedcount=0;

    ROS_INFO ("Image nr %d\n", ImgCount++);
//     cout<<endl<<features.size()<<endl;
//     cout<<endl<<Img.rows<<" x "<<Img.cols<<endl;
    


    cv_ptr->image = Img;



    sensor_msgs::ImagePtr msg_out = cv_ptr->toImageMsg ();
    msg_out->encoding = "rgb8";
    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;
}