00001 00005 #ifndef _THERMALVIS_INITIALIZATION_H_ 00006 #define _THERMALVIS_INITIALIZATION_H_ 00007 00008 #include "general_resources.hpp" 00009 #include "opencv_resources.hpp" 00010 #include "ros_resources.hpp" 00011 #include "features.hpp" 00012 00013 #define MAXIMUM_FRAMES_TO_STORE 2000 // careful about setting this too high for memory 00014 #define MAXIMUM_FEATURES_PER_DETECTOR 5000 00015 #define DEFAULT_MAX_FRAMES 100 00016 00018 struct initializationData { 00019 string video_stream; 00020 int max_frame_count; 00021 00022 bool debugMode; 00023 00024 string detector[MAX_DETECTORS], descriptor[MAX_DETECTORS]; 00025 double sensitivity[MAX_DETECTORS]; 00026 string method[MAX_DETECTORS]; 00027 bool method_match[MAX_DETECTORS]; 00028 00029 unsigned int numDetectors; 00030 00031 string intrinsics; 00032 bool obtainStartingData(ros::NodeHandle& nh); 00033 void initializeDetectors(cv::Ptr<cv::FeatureDetector> *det); 00034 void initializeDescriptors(cv::Ptr<cv::DescriptorExtractor> *desc); 00035 00036 }; 00037 00038 #endif