LaneDetector::LaneDetector(ros::NodeHandle& node_handle) {
loadParams(node_handle);
// Grass Removal
kernel_size = 8;
svm = new SVM();
svm->init(kernel_size * kernel_size * 3);
std::string model_path = ros::package::getPath("lane_detector")+"/data/"+training_data_file + ".model";
svm->loadModel(model_path.c_str());
setupComms();
if (debug_mode > 0) {
original_image_window = ros::this_node::getName() + std::string("/original_image");
cv::namedWindow(original_image_window, CV_WINDOW_AUTOSIZE);
result_window = ros::this_node::getName() + std::string("/result");
cv::namedWindow(result_window, CV_WINDOW_AUTOSIZE);
grass_removal_output_window = ros::this_node::getName() + std::string("/grass_removal_output");
cv::namedWindow(grass_removal_output_window, CV_WINDOW_AUTOSIZE);
ipt_output_window = ros::this_node::getName() + std::string("/ipt_output");
cv::namedWindow(ipt_output_window, 0);
obstacle_removal_output_window = ros::this_node::getName() + std::string("/obstacle_removal_output");
cv::namedWindow(obstacle_removal_output_window, CV_WINDOW_AUTOSIZE);
lane_binary_output = ros::this_node::getName() + std::string("/lane_binary_output");
cv::namedWindow(lane_binary_output, CV_WINDOW_AUTOSIZE);
}
}
LogitechCamera::LogitechCamera(int argc, char** argv) : Sensor(argc, argv) {
camera_id = std::atoi(argv[1]);
node_name = argv[2];
std::cout<<"camera_id:"<<camera_id<<std::endl;
std::cout<<"node_name:"<<node_name<<std::endl;
ros::init(argc, argv, node_name.c_str());
ros::NodeHandle node_handle;
loadParams(node_handle);
setupComms(node_handle);
}
