AlprImpl::AlprImpl(const std::string country, const std::string configFile, const std::string runtimeDir)
{
timespec startTime;
getTimeMonotonic(&startTime);
config = new Config(country, configFile, runtimeDir);
plateDetector = ALPR_NULL_PTR;
stateDetector = ALPR_NULL_PTR;
ocr = ALPR_NULL_PTR;
prewarp = ALPR_NULL_PTR;
// Config file or runtime dir not found. Don't process any further.
if (config->loaded == false)
{
return;
}
plateDetector = createDetector(config);
ocr = new OCR(config);
setNumThreads(0);
setDetectRegion(DEFAULT_DETECT_REGION);
this->topN = DEFAULT_TOPN;
setDefaultRegion("");
prewarp = new PreWarp(config);
timespec endTime;
getTimeMonotonic(&endTime);
if (config->debugTiming)
cout << "OpenALPR Initialization Time: " << diffclock(startTime, endTime) << "ms." << endl;
}
AlprImpl::AlprImpl(const std::string country, const std::string configFile, const std::string runtimeDir)
{
config = new Config(country, configFile, runtimeDir);
plateDetector = ALPR_NULL_PTR;
stateIdentifier = ALPR_NULL_PTR;
ocr = ALPR_NULL_PTR;
prewarp = ALPR_NULL_PTR;
// Config file or runtime dir not found. Don't process any further.
if (config->loaded == false)
{
return;
}
plateDetector = createDetector(config);
ocr = new OCR(config);
setNumThreads(0);
setDetectRegion(DEFAULT_DETECT_REGION);
this->topN = DEFAULT_TOPN;
setDefaultRegion("");
prewarp = new PreWarp(config);
}
ProcPipeGuiElem* createByNo( int eno, GlobalInfo *info )
{
switch( eno )
{
case 1: return createDetector( info ); break;
case 2: return createTransform( info ); break;
case 3: return createLogic( info ); break;
default: throw "bad elem no";
}
}
OpenNIListener::OpenNIListener(GraphManager* graph_mgr)
: graph_mgr_(graph_mgr),
stereo_sync_(NULL), kinect_sync_(NULL), no_cloud_sync_(NULL),
visua_sub_(NULL), depth_sub_(NULL), cloud_sub_(NULL),
depth_mono8_img_(cv::Mat()),
pause_(ParameterServer::instance()->get<bool>("start_paused")),
getOneFrame_(false),
first_frame_(true),
data_id_(0),
num_processed_(0),
image_encoding_("rgb8")
{
ParameterServer* ps = ParameterServer::instance();
if(ps->get<bool>("encoding_bgr")){
image_encoding_ = "bgr8";//used in conversion to qimage. exact value does not matter, just not rgb8
}
detector_ = createDetector(ps->get<std::string>("feature_detector_type"));
extractor_ = createDescriptorExtractor(ps->get<std::string>("feature_extractor_type"));
setupSubscribers();
}
OpenNIListener::OpenNIListener(GraphManager* graph_mgr)
: graph_mgr_(graph_mgr),
stereo_sync_(NULL), kinect_sync_(NULL), no_cloud_sync_(NULL),
visua_sub_(NULL), depth_sub_(NULL), cloud_sub_(NULL),
depth_mono8_img_(cv::Mat()),
save_bag_file(false),
pause_(ParameterServer::instance()->get<bool>("start_paused")),
getOneFrame_(false),
first_frame_(true),
data_id_(0),
num_processed_(0),
image_encoding_("rgb8")
{
ParameterServer* ps = ParameterServer::instance();
int q = ps->get<int>("subscriber_queue_size");
if(ps->get<bool>("encoding_bgr")){
image_encoding_ = "bgr8";//used in conversion to qimage. exact value does not matter, just not rgb8
}
std::string bagfile_name = ps->get<std::string>("bagfile_name");
std::string visua_tpc = ps->get<std::string>("topic_image_mono");
std::string depth_tpc = ps->get<std::string>("topic_image_depth");
std::string cinfo_tpc = ps->get<std::string>("camera_info_topic");
ros::NodeHandle nh;
tflistener_ = new tf::TransformListener(nh);
if(bagfile_name.empty()){
std::string cloud_tpc = ps->get<std::string>("topic_points");
std::string widev_tpc = ps->get<std::string>("wide_topic");
std::string widec_tpc = ps->get<std::string>("wide_cloud_topic");
//All information from Kinect
if(!visua_tpc.empty() && !depth_tpc.empty() && !cloud_tpc.empty())
{
visua_sub_ = new image_sub_type(nh, visua_tpc, q);
depth_sub_ = new image_sub_type (nh, depth_tpc, q);
cloud_sub_ = new pc_sub_type (nh, cloud_tpc, q);
kinect_sync_ = new message_filters::Synchronizer<KinectSyncPolicy>(KinectSyncPolicy(q), *visua_sub_, *depth_sub_, *cloud_sub_),
kinect_sync_->registerCallback(boost::bind(&OpenNIListener::kinectCallback, this, _1, _2, _3));
ROS_INFO_STREAM("Listening to " << visua_tpc << ", " << depth_tpc << " and " << cloud_tpc);
}
//No cloud, but visual image and depth
else if(!visua_tpc.empty() && !depth_tpc.empty() && !cinfo_tpc.empty() && cloud_tpc.empty())
{
visua_sub_ = new image_sub_type(nh, visua_tpc, q);
depth_sub_ = new image_sub_type(nh, depth_tpc, q);
cinfo_sub_ = new cinfo_sub_type(nh, cinfo_tpc, q);
no_cloud_sync_ = new message_filters::Synchronizer<NoCloudSyncPolicy>(NoCloudSyncPolicy(q), *visua_sub_, *depth_sub_, *cinfo_sub_);
no_cloud_sync_->registerCallback(boost::bind(&OpenNIListener::noCloudCallback, this, _1, _2, _3));
ROS_INFO_STREAM("Listening to " << visua_tpc << " and " << depth_tpc);
}
//All information from stereo
if(!widec_tpc.empty() && !widev_tpc.empty())
{
visua_sub_ = new image_sub_type(nh, widev_tpc, q);
cloud_sub_ = new pc_sub_type(nh, widec_tpc, q);
stereo_sync_ = new message_filters::Synchronizer<StereoSyncPolicy>(StereoSyncPolicy(q), *visua_sub_, *cloud_sub_);
stereo_sync_->registerCallback(boost::bind(&OpenNIListener::stereoCallback, this, _1, _2));
ROS_INFO_STREAM("Listening to " << widev_tpc << " and " << widec_tpc );
}
}
detector_ = cv::Ptr<cv::FeatureDetector>( createDetector(ps->get<std::string>("feature_detector_type")) );
extractor_ = cv::Ptr<cv::DescriptorExtractor>( createDescriptorExtractor(ps->get<std::string>("feature_extractor_type")) );
}
