cam_detection_alg_node.cpp

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#include "cam_detection_alg_node.h"

CamDetectionAlgNode::CamDetectionAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<CamDetectionAlgorithm>(),
  it_(public_node_handle_),
  width_resize_(0.5f),
  height_resize_(0.5f)
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  detection_publisher_ = public_node_handle_.advertise<iri_perception_msgs::img_detection>("detection", 100);
  debug_img_publisher_ = it_.advertise("debug_image", 1);
  
  // [init subscribers]
  cam_sub_ = it_.subscribeCamera("image_in", 1, &CamDetectionAlgNode::image_callback, this);

  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

CamDetectionAlgNode::~CamDetectionAlgNode(void)
{
  // [free dynamic memory]
}

void CamDetectionAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
}

/*  [subscriber callbacks] */
void CamDetectionAlgNode::image_callback(const sensor_msgs::ImageConstPtr& image_msg, 
                                         const sensor_msgs::CameraInfoConstPtr& info_msg)
{
  ROS_INFO("CamDetectionAlgNode::image_callback: New Message Received"); 

  alg_.lock();
    try
    {
      cv_ptr_ = cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::BGR8);

      //resize original image size and detections
      cv::Mat img_resized;
      cv::resize(cv_ptr_->image, img_resized, cv::Size(), width_resize_, height_resize_, cv::INTER_CUBIC);

      // where the detections will be saved, new structure
      std::vector<img_dect> img_detections;

      // execute camera people detection algorithm
      cam_detector_.peopledetection(img_resized, img_detections);
      ROS_INFO("img_detections.size=%d",img_detections.size());

      // fill up message with detections result
      iri_perception_msgs::img_detection img_detection_msg;
      img_detection_msg.header = cv_ptr_->header;
      img_detection_msg.dets.resize(img_detections.size());
      for(unsigned int ii=0; ii<img_detections.size(); ii++)
      {
        img_detection_msg.dets[ii].id     = img_detections[ii].id;
        img_detection_msg.dets[ii].x      = img_detections[ii].Bbox.x;
        img_detection_msg.dets[ii].y      = img_detections[ii].Bbox.y;
        img_detection_msg.dets[ii].width  = img_detections[ii].Bbox.width;
        img_detection_msg.dets[ii].height = img_detections[ii].Bbox.height;
        img_detection_msg.dets[ii].score  = img_detections[ii].score;
      }

      // output image with detections
      cv_bridge::CvImage img_msg;
      img_msg.header   = cv_ptr_->header;
      img_msg.encoding = cv_ptr_->encoding;

      // draw image with the new structure
      cv::Mat outIm;
      CCamera_People_Detector drawer;
      drawer.drawpeopleweightsdetection(img_resized, outIm, img_detections);
      img_msg.image = outIm;

      // publish messages
      detection_publisher_.publish(img_detection_msg);
      debug_img_publisher_.publish(img_msg.toImageMsg());
    }
    catch (cv_bridge::Exception& e)
    {
      ROS_ERROR("cv_bridge exception: %s", e.what());
      return;
    }
  alg_.unlock();
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void CamDetectionAlgNode::node_config_update(Config &config, uint32_t level)
{
  alg_.lock();
    width_resize_  = config.width_resize;
    height_resize_ = config.height_resize;
  alg_.unlock();
}

void CamDetectionAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<CamDetectionAlgNode>(argc, argv, "cam_detection_alg_node");
}