camera_object_learner_alg.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _camera_object_learner_alg_h_
00026 #define _camera_object_learner_alg_h_
00027 
00028 #include <iri_camera_object_learner/CameraObjectLearnerConfig.h>
00029 #include <cv_bridge/cv_bridge.h>
00030 #include <sensor_msgs/image_encodings.h>
00031 #include "mutex.h"
00032 
00033 //include camera_object_learner_alg main library
00034 #include "objectDetector.h"
00035 #include "detectorFunctions.h"
00036 
00042 class CameraObjectLearnerAlgorithm
00043 {
00044   protected:
00051     CMutex alg_mutex_;
00052 
00053     // private attributes and methods
00054 
00055     // library attributes
00056     clsParameters prms;
00057     clsParameters* ptrPrms;
00058     clsRFs RFs;
00059     clsRFs* ptrRFs;
00060     clsClassifier clfr;
00061     clsClassifier* ptrClfr;
00062     clsDetectionSet detections;
00063     IplImage img,show_img;
00064     cv_bridge::CvImagePtr cv_image;
00065     bool assistance;
00066 
00067   public:
00074     typedef iri_camera_object_learner::CameraObjectLearnerConfig Config;
00075 
00082     Config config_;
00083 
00092     CameraObjectLearnerAlgorithm(void);
00093 
00099     void lock(void) { alg_mutex_.enter(); };
00100 
00106     void unlock(void) { alg_mutex_.exit(); };
00107 
00115     bool try_enter(void) { return alg_mutex_.try_enter(); };
00116 
00128     void config_update(Config& new_cfg, uint32_t level=0);
00129 
00130     // here define all camera_object_learner_alg interface methods to retrieve and set
00131     // the driver parameters
00132     bool init_detector(sensor_msgs::ImageConstPtr &image,cv::Rect &coord);
00133     bool detect(sensor_msgs::ImageConstPtr &image);
00134     bool learn_detector(bool valid);
00135     void get_output_image(sensor_msgs::ImagePtr &image);
00136 
00143     ~CameraObjectLearnerAlgorithm(void);
00144 };
00145 
00146 #endif


iri_camera_object_learner
Author(s): fherrero
autogenerated on Fri Dec 6 2013 22:59:46