ImageRecognizer.h

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//
// Created by bhetherman on 3/30/15.
//

#ifndef PROJECT_IMAGE_RECOGNIZER_H
#define PROJECT_IMAGE_RECOGNIZER_H

//ROS
#include <ros/ros.h>
#include <ros/package.h>
#include <time.h>
#include <stdio.h>
#include <sensor_msgs/JointState.h>
#include <iostream>
#include <fstream>
#include <string>
#include <dirent.h>
#include <std_srvs/Empty.h>
#include <sys/stat.h>
#include <map>

#include <rail_manipulation_msgs/SegmentedObjectList.h>
#include <sensor_msgs/Image.h>

//OpenCV
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/ml/ml.hpp>

//CPP
#include <boost/filesystem.hpp>
#include <iostream>
#include <fstream>

class ImageRecognizer
{
public:
  ImageRecognizer();

  void testImageRecognizer();

  void calculateAndSaveFeatures();

  void trainImageRecognizer();

  void loadImageRecognizer();

  void recognizeObject(const rail_manipulation_msgs::SegmentedObject object, std::vector<std::pair< float, std::string> > &recognitionResults);

private:

  void objectListCallBack(const rail_manipulation_msgs::SegmentedObjectList msg);

  void detectExtractFeatures(cv::Mat &input, std::vector<cv::KeyPoint> &keypoints, cv::Mat &descriptor,
                             cv::Ptr<cv::DescriptorExtractor> extractor, cv::Ptr<cv::FeatureDetector> detector);

  void detectExtractComputeFeatures(cv::Mat colorInput, cv::Mat &response_hist);

  void getFilesAndClasses(std::vector<std::string> &classes_names, std::vector<std::string> &FileNames);

  void getFeatures(cv::Mat &featuresUnclustered, cv::Ptr<cv::DescriptorExtractor> extractor,
                   cv::Ptr<cv::FeatureDetector> detector, std::vector<std::string> &FileNames);

  void trainVocabulary(std::string featureName, cv::Mat featuresUnclustered, cv::Mat &vocabulary);

  void colorAndHSVDescriptors(cv::Mat colorInput, cv::Mat &result_hist);

  void trainNN(cv::Mat &inputData, std::map<std::string,cv::Mat> &classesTrainingData, int numClasses);

  void testImage(cv::Mat colorInput, std::vector<std::pair<float, std::string> > &testResults);

  void normalizeFeatureVector(cv::Mat &featureVector, int numPixels);

  ros::NodeHandle node, pnh; 
  ros::Subscriber sub; 
  cv::Ptr<cv::DescriptorMatcher> bfMatcher, flannMatcher;
  cv::Ptr<CvANN_MLP> classifier;
  std::vector<std::string> classLegend;
  int dictionarySize;
  int histSize;
  int numResponses;
  bool saveNewImages;
  std::string newImagesDirPath;
  std::string savedDataDirPath; 
  std::string imagesDirPath;
  std::string testImagesDirPath;
};

int main(int argc, char **argv);
#endif //PROJECT_IMAGE_RECOGNIZER_H