int main (int argc, char **argv)
{
ros::init(argc, argv, "hand_gesture_node");
ros::NodeHandle private_nh_;
ROS_INFO(" Launching Hand Gesture Publisher Noide");
string path = ros::package::getPath("qbo_music_player");
path+="/hand_gestures/";
/*
* Set ROS parameters
*/
private_nh_.param("/hand_gesture_node/certainty_threshold", certainty_threshold, 0.26);
private_nh_.param("/hand_gesture_node/stabilizer_max", max_stabilizer, 6);
private_nh_.param("/hand_gesture_node/stabilizer_threshold", stabilizer_threshold, 5);
//Building orbit
ROS_INFO("Launching Gesture recognizer...");
ROS_INFO("Certainty threshold: %lg, Stabilizer Threshold: %d, Stabilizer Max: %d", certainty_threshold, stabilizer_threshold, max_stabilizer);
orbit = new Orbit(path);
//orbit->linear_kernel = true;
ROS_INFO("Preparing Gesture Recognizer for BOW with SVN...");
orbit->prepareOrbit(Orbit::BAG_OF_WORDS_SVM);
ROS_INFO("Gesture Recognizer ready with threshold %lg!", certainty_threshold);
if(orbit->objects_.size()<2)
{
ROS_ERROR("Insufficient number of hand gestures. Calibrate Hand Gesture with more than 1 hand gesture");
return 1;
}
/*
* Initializing stabilizer values
*/
for(unsigned int i = 0; i< orbit->objects_.size();i++)
{
hands.push_back(orbit->objects_[i].name_);
stabilizer.push_back(0);
}
last_hand_received = ros::Time::now();
//Initializing not known value
stabilizer.push_back(0);
image_sub_=private_nh_.subscribe<sensor_msgs::Image>("/qbo_stereo_selector/object",1,&stereoSelectorCallback);
hand_pub = private_nh_.advertise<std_msgs::String>("/hand_gesture_node/hand_gesture", 10);
ROS_INFO("Hand Gesture Node Launched!");
ros::spin();
return 0;
}
