clientimg_detect.cpp

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 #define _MAIN_C_
 #include "peddetect.h" 

class PedestrianDetect
{
  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;
  FtrVecParams2 randparams;
  long long int Pedcount, nPedcount;
  PedRoiVec PedRect;
  PedRoiVec PedRect_Post;
  CvBoost boost_classifier;
  vector<Rect> rectangles;
  
  
public:

  PedestrianDetect ():
  it_ (nh_)
  {

    ImgCount = 0;
    image_pub_ = it_.advertise ("Image_Out", 1);
    image_sub_ =
//     it_.subscribe ("Image_In", 1, &PedestrianDetect:imageCb, this);
    it_.subscribe ("snr/scam/wide/left/image_color", 1, &PedestrianDetect::imageCb, this);
    
    region.x = 0; region.y = 0; region.width = DWWIDTH; region.height = DWHEIGHT;
    minSize.width=DWWIDTH; minSize.height=DWHEIGHT;
    
    GetRandParams(SEED,NRFEATURE2, randparams, region);
    boost_classifier.load("/home/pedrobatista/workingcopy/lar3/perception/pedestrians/PedestrianDetect/trained_boost_15Kf_2000w_19Ks_m8_M64_boot3.xml");

    Pedcount=0;
    nPedcount=0;

    

  }

  ~PedestrianDetect ()
  {
   


  }

  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);
      }
      else
      {
        Size win; win.width=640; win.height=480;
        resize(Img, Img, win , 0, 0, INTER_LINEAR);
      }
      
    
    
      
    cvtColor (Img, Img, CV_BGR2RGB, 0);

    features.clear ();
    PedRect.clear();
    rectangles.clear();
    PedRect_Post.clear();

   
    GetChnFtrsOverImagePyramid(Img , region , features ,NOCTUP, minSize, SCALEPOCT , randparams,PedRect, boost_classifier);
    
    
    for (uint n=0; n<PedRect.size(); n++)
    {
      
      double FR = (double)Img.rows / (double)PedRect[n].Scale.height, FC=(double)Img.cols / (double)PedRect[n].Scale.width;
      cv::Rect BB(Point((double)PedRect[n].x*FC,(double)PedRect[n].y*FR),Point((double)PedRect[n].x*FC+(double)DWWIDTH*FC,(double)PedRect[n].y*FR+(double)DWHEIGHT*FR));
      
      rectangles.push_back(BB);

    }
   
    
    if (rectangles.size()!=0) groupRectangles(rectangles, 1, 0.2);
    
    for (uint n=0; n<rectangles.size();n++)
    {
      rectangle(Img,rectangles[n],Scalar(0,255,0), 2, 8, 0);
//       cout<<"width: "<<rectangles[n].width<<" height: "<<rectangles[n].height<<" x: "<<rectangles[n].x<<" y: "<<rectangles[n].y<<endl;
      
    }
//  
//     PostProcess(Img, rectangles, randparams, boost_classifier, PedRect_Post);
    
// //     Pedcount+=rectangles.size();
//     
// //     cout<<"Ped: "<<Pedcount<<"   "<<PedRect.size()<<endl;
    
    Pedcount+=PedRect.size();
    nPedcount+=features.size()/NRFEATURE-PedRect.size();
    cout<<"Ped: "<<Pedcount<<" nPed: "<<nPedcount<<endl;

    ROS_INFO ("Image nr %d\n", ImgCount++);
//     cout<<endl<<features.size()<<endl;
//     cout<<endl<<Img.rows<<" x "<<Img.cols<<endl;
    
    
//     cvtColor (Img, Img, CV_RGB2BGR, 0);
    
    
//     std::ostringstream oss;
//     oss<<ImgCount;
//     imwrite( "/home/pedrobatista/workingcopy/lar3/perception/pedestrians/PedestrianDetect/Results/BagGaf_boot2/Frame"+oss.str()+".jpg", Img );

    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)
{
//   fstream outfile("/home/pedrobatista/workingcopy/lar3/perception/pedestrians/PedestrianDetect/train_seed1234_MIN8_MAX64.csv");
  ros::init (argc, argv, "image_converter");
  PedestrianDetect ic;
  ros::spin ();
  return 0;
  
}