human_assisted_object_detection_alg.h

Go to the documentation of this file.

// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _human_assisted_object_detection_alg_h_
#define _human_assisted_object_detection_alg_h_

#include <iri_human_assisted_object_detection/HumanAssistedObjectDetectionConfig.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include "face_detector_mono/Rect.h"
#include "sensor_msgs/Image.h"
#include "mutex.h"

//include human_assisted_object_detection_alg main library
#include "objectDetector.h"
#include "detectorFunctions.h"

class HumanAssistedObjectDetectionAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods

    // library attributes
    clsParameters prms;
    clsParameters* ptrPrms;
    clsRFs RFs;
    clsRFs* ptrRFs;
    clsClassifier clfr;
    clsClassifier* ptrClfr;
    clsDetectionSet detections;
    IplImage img,show_img;
    cv_bridge::CvImagePtr cv_image;
    bool assistance;

  public:
    typedef iri_human_assisted_object_detection::HumanAssistedObjectDetectionConfig Config;

    Config config_;

    HumanAssistedObjectDetectionAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all human_assisted_object_detection_alg interface methods to retrieve and set
    // the driver parameters
    bool init_detector(sensor_msgs::ImageConstPtr &image,face_detector_mono::Rect &coord);
    bool detect(sensor_msgs::ImageConstPtr &image);
    bool learn_detector(bool valid);
    bool get_output_rect(cv::Rect & output_rect);
    void get_output_image(sensor_msgs::ImagePtr &image);

    ~HumanAssistedObjectDetectionAlgorithm(void);
};

#endif