PeopleDetector(ros::NodeHandle& nh, std::string& model_file, std::string& rgb_camera_topic, std::string& depth_camera_topic, std::string& tracker_frame) : nh_(nh), it_(nh)
{
tracker_frame_ = tracker_frame;
resource_retriever::Retriever retver;
resource_retriever::MemoryResource resource;
try
{
resource = retver.get("package://people_identifier/data/" + model_file);
}
catch (resource_retriever::Exception& e)
{
printf("Resource retriever failed to find the file!\n");
}
FILE * tempfile = fopen("tmp_model.xml", "w");
fwrite(resource.data.get(), resource.size, 1, tempfile);
fclose(tempfile);
detector = cvLoadLatentSvmDetector("tmp_model.xml");
if (!detector)
{
printf("Unable to load the model file?!\n");
fflush(stdout);
exit(1);
}
iscalibrated = 0;
tracking_pub_ = nh_.advertise<person_tracker::TrackerState>("tracker_state", 100);
image_sub_ = it_.subscribe(rgb_camera_topic, 1, &PeopleDetector::imageCb, this);
depth_sub_ = it_.subscribe(depth_camera_topic, 1, &PeopleDetector::depthCb, this);
cv::namedWindow(COLORWINDOW);
ROS_INFO("Startup complete");
}
bool LatentSvmDetector::load( const std::vector<String>& filenames, const std::vector<String>& _classNames )
{
clear();
CV_Assert( _classNames.empty() || _classNames.size() == filenames.size() );
for( size_t i = 0; i < filenames.size(); i++ )
{
const String filename = filenames[i];
if( filename.length() < 5 || filename.substr(filename.length()-4, 4) != ".xml" )
continue;
CvLatentSvmDetector* detector = cvLoadLatentSvmDetector( filename.c_str() );
if( detector )
{
detectors.push_back( detector );
if( _classNames.empty() )
{
classNames.push_back( extractModelName(filenames[i]) );
}
else
classNames.push_back( _classNames[i] );
}
}
return !empty();
}
