ObjectDetectorClass.h

Go to the documentation of this file.

#ifndef __OBJECT_DETECTOR_CLASS__
#define __OBJECT_DETECTOR_CLASS__

#include "ros/ros.h"
#include <string>
#include <vector>
#include "ObjectDetectorProvider.h"

class ObjectDetectorClass
{
public:

  ObjectDetectorClass();
  virtual ~ObjectDetectorClass();

  void runObjectDetectorNode(int argc, char *argv[]);

  void runObjectDetectorDummyNode(int argc, char *argv[],
    const std::vector<std::string> &local_paths);
    
protected:

  void parseArgs(int argc, char *argv[]);

  void initiateNode();
  
  void spinNode();

  void createDebugDir(std::string &debug_dir) const;

  void loadLocalModel(ObjectDetectorProvider &provider);

protected:

  struct tArguments
  {
    //std::string topic_name;
    //std::string color_model;
    std::string camera_model;
    bool debug_mode;
    bool visualization_mode;
  }; 
  
  tArguments m_arguments;
  std::string m_node_name;
  ros::NodeHandle *m_node_handle;  
  ObjectDetectorProvider *m_provider;

};

#endif