peddetect.h

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#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv/cvwimage.h>
#include <opencv/highgui.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <cv.h>
#include <ros/package.h>
#include <boost/filesystem.hpp>
#include <iostream>
#include <iterator>
#include <algorithm>
#include <vector>
#include <math.h>
#include "opencv/ml.h"
#include <fstream>
#include <cstdlib>


#define PI 3.14159265359
#define CHANNELNR 10
#define STEP 4
#define NRFEATURE 15000
#define NRFEATURE2 NRFEATURE/CHANNELNR
#define DWHEIGHT 128
#define DWWIDTH 64
#define SEED 1234
#define MINAREA 8
#define MAXAREAWIDTH 64
#define MAXAREAHEIGHT 48
#define THRESHOLD 11
#define NOCTUP 0
#define SCALEPOCT 8


using namespace boost::filesystem;
using namespace std;
using namespace cv;
namespace enc = sensor_msgs::image_encodings;

typedef struct
{
  int nFtrs;
  int width;
  int height;
  int x;
  int y;
} FtrParams2;

typedef struct
{
  int x;
  int y;
  Size Scale;
} PedRoi;





typedef vector<PedRoi> PedRoiVec;
typedef vector<path> PVector;
typedef vector<Mat> MatVector;
typedef Vec<float, CHANNELNR> vec10d;
typedef vector<vec10d> d10Vector;
typedef vector<FtrParams2> FtrVecParams2;
typedef vector<float> DVector;



void GetFileList(string folder_path, PVector & dest_vect);

Mat GradientMagnitude(Mat src);
Mat GradientMagnitude(Mat xsobel, Mat ysobel);


MatVector OrientedGradientsDiagram(Mat GradMag, Mat xsobel, Mat ysobel);

MatVector LUVcolourchannels(Mat Img);


void GetChnFtrsOverImagePyramid(Mat Image , CvRect & region , vector<float> & features, int nOctUp, Size minSize, int nPerOct, FtrVecParams2 Params, PedRoiVec & PedRect, CvBoost & boost_classifier);
void GetChnFtrsOverImagePyramid(Mat Image , CvRect & region , vector<float> & features, vector<DVector> & WindowFtrs, int nOctUp, Size minSize, int nPerOct, FtrVecParams2 Params);


void GetChnFtrsOverImage(Mat IntegralChannels , CvRect & region  ,vector<float> & features, FtrVecParams2 Params, PedRoiVec & PedRect,CvBoost & boost_classifier);
void GetChnFtrsOverImage(Mat IntegralChannels , CvRect & region  ,vector<float> & features,vector<DVector> & WindowFtrs, FtrVecParams2 Params);

void GetChnFtrsOverWindow(Mat IntegralChannels , vector<float> & features ,FtrVecParams2 Params, CvRect region,PedRoiVec & PedRect,CvBoost & boost_classifier);
void GetChnFtrsOverWindow(Mat IntegralChannels , vector<float> & features,vector<DVector> & WindowFtrs ,FtrVecParams2 Params, CvRect region);

void GetIntegralSum(Mat IntegralChannels, vector<float> & features, FtrParams2 Params,CvRect region);

void ComputeChannels(Mat Image, Mat & MergedChannels);

void GetRandParams(int seed, int NrFtrs, FtrVecParams2 & RandParams, Rect region);

void GetChnFtrsOverWindow(Mat IntegralChannels , vector<float> & features, FtrVecParams2 Params, CvRect region,PedRoiVec & PedRect);
void GetChnFtrsOverWindow(Mat IntegralChannels , vector<float> & features,vector<DVector> & WindowFtrs, FtrVecParams2 Params);


void GetIntegralSum(Mat IntegralChannels, vector<float> & features, FtrParams2 Params,CvRect region);

void PostProcess(Mat Img, vector<Rect> PedRect, FtrVecParams2 randparams, CvBoost & boost_classifier, PedRoiVec & PedRect_Post);