processor.h

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#ifndef PROCESSOR_H_
#define PROCESSOR_H_

#include <opencv2/core/core.hpp>
#include <opencv2/ml/ml.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_broadcaster.h>

typedef struct
{
  int c; 
  cv::RotatedRect rect; 
} smoothing_point;

#define RATIO_THRESHOLD 0.7

#define MIN_AREA 1000

#define MAX_AREA 7000

#define SMOOTH_DIST_THRESH 5

#define MAX_SMOOTHING_COUNT 20

#define BLUR_KERNEL 5

#define CANNY_MIN_THRESH 40

#define CANNY_MAX_THRESH 120

#define CANNY_KERNEL 3

#define ERODE_ELEMENT_SIZE 5

#define DILATE_ELEMENT_SIZE 3

#define HOUGH_RHO 1

#define HOUGH_THETA CV_PI/180.0

#define HOUGH_THRESH 12

#define HOUGH_MIN_LINE_LENGTH 8

#define HOUGH_MAX_LINE_GAP 3

#define REF_WIDTH 20

#define REF_HEIGHT 28

#define MAX_SIFT 20.0

#define MAX_LINES 150.0

#define MAX_AVG_LINE_LENGTH 25.0

#define D 7

#define COMPUTER 0

#define NUM_COMPUTER 36

#define TURTLE 1

#define NUM_TURTLE 39

#define ROBOT 2

#define NUM_ROBOT 18

#define BSG 3

#define NUM_BSG 19

#define PENS 4

#define NUM_PENS 35

#define COVERS 5

#define NUM_COVERS 54

#define OTHER 6

#define NUM_OTHER 30

#define OBJECT_FRAME "/computer_object_link"

#define BASE_FRAME "/base_link"

#define CLOUD_FRAME "/head_mount_kinect_rgb_optical_frame"

#define GOAL_FRAME "/touch_goal"

#define PADDING_X -0.2

#define PADDING_Y -0.1

#define PADDING_Z -0.1

class processor
{
public:
  processor();

  ~processor();

private:
  void feed_cback(const sensor_msgs::Image::ConstPtr& img);

  void cloud_cback(const sensor_msgs::PointCloud2::ConstPtr& pc);

  void train();

  void accuracy();

  std::vector<cv::RotatedRect> segment(cv::Mat const src);

  std::vector<cv::Mat> split_image(cv::Mat const src, std::vector<cv::RotatedRect> rectangles);

  std::vector<float> get_feature_vector(cv::Mat const src);

  void smooth(cv::RotatedRect r);

  ros::NodeHandle node; 
  ros::Subscriber feed, cloud; 
  cv::Mat erode_element, dilate_element; 
  std::vector<cv::Point> ref_contour; 
  cv::RNG random; 
  CvNormalBayesClassifier *bayes;

  bool capture; 
  int capture_count; 
  std::vector<smoothing_point> smoothing_points; 
  std::vector<int> non_matches; 
  int last_x, last_y; 
  tf::TransformBroadcaster tfb; 
  pcl::PointCloud<pcl::PointXYZ> latest_cloud; 
};

int main(int argc, char **argv);

#endif