fixed by changed InfoImage on simples in lib

Author: MoscowskyAnton

CMakeLists.txt

@@ -174,6 +174,7 @@ add_executable(
     src/lib/types/SimpleObject.cpp
     src/lib/types/Filtering.cpp
     src/lib/types/Clusterization.cpp    
+    src/lib/types/InfoImage.cpp
     # utils    
     src/lib/utils/geometry_utils.cpp
     src/lib/utils/drawing_utils.cpp
@@ -193,6 +194,7 @@ add_executable(
     src/lib/types/SimpleObject.cpp
     src/lib/types/Filtering.cpp
     src/lib/types/Clusterization.cpp    
+    src/lib/types/InfoImage.cpp
     # utils
     src/lib/utils/geometry_utils.cpp
     src/lib/utils/drawing_utils.cpp
@@ -211,7 +213,8 @@ add_executable(
     src/lib/types/Attribute.cpp
     src/lib/types/SimpleObject.cpp
     src/lib/types/Filtering.cpp
-    src/lib/types/Clusterization.cpp    
+    src/lib/types/Clusterization.cpp   
+    src/lib/types/InfoImage.cpp
     # utils   
     src/lib/utils/geometry_utils.cpp
     src/lib/utils/drawing_utils.cpp
@@ -231,6 +234,7 @@ add_executable(
     src/lib/types/SimpleObject.cpp
     src/lib/types/Filtering.cpp
     src/lib/types/Clusterization.cpp    
+    src/lib/types/InfoImage.cpp
     # utils   
     src/lib/utils/geometry_utils.cpp
     src/lib/utils/drawing_utils.cpp
@@ -249,7 +253,8 @@ add_executable(
     src/lib/types/Attribute.cpp
     src/lib/types/SimpleObject.cpp
     src/lib/types/Filtering.cpp
-    src/lib/types/Clusterization.cpp    
+    src/lib/types/Clusterization.cpp   
+    src/lib/types/InfoImage.cpp
     # utils    
     src/lib/utils/geometry_utils.cpp
     src/lib/utils/drawing_utils.cpp
@@ -269,6 +274,7 @@ if(DLib)
         src/lib/types/SimpleObject.cpp
         src/lib/types/Filtering.cpp
         src/lib/types/Clusterization.cpp    
+        src/lib/types/InfoImage.cpp
         # utils    
         src/lib/utils/geometry_utils.cpp
         src/lib/utils/drawing_utils.cpp

launch/extended_object_detection_oakd_example.launch

@@ -21,7 +21,7 @@
         <remap from="depth/image_raw" to="/rgb_stereo_publisher/stereo/depth"/>
         <remap from="depth/info" to="/rgb_stereo_publisher/stereo/camera_info"/>
 
-        <rosparam param="selected_on_start_simple_objects">[10]</rosparam>
+        <rosparam param="selected_on_start_simple_objects">[]</rosparam>
         <rosparam param="selected_on_start_complex_objects">[-1]</rosparam>
 
     </node>

src/extended_object_detection_node/eod_node.cpp

@@ -204,7 +204,7 @@ void EOD_ROS::detect(const eod::InfoImage& rgb, const eod::InfoImage& depth, std
         //ROS_INFO("Identifiyng...");
         s_it->Identify(rgb, depth, frame_sequence);        
         //ROS_INFO("Adding...");
-        add_data_to_simple_msg(&(*s_it), simples_msg, rgb.K);
+        add_data_to_simple_msg(&(*s_it), simples_msg, rgb.K());
         if(publish_image_output)
             s_it->draw(image_to_draw, cv::Scalar(0, 255, 0));
     }
@@ -219,7 +219,7 @@ void EOD_ROS::detect(const eod::InfoImage& rgb, const eod::InfoImage& depth, std
         visualization_msgs::MarkerArray mrk_array_msg;    
         int id_cnt = 0;        
         for(auto& bo : simples_msg.objects){            
-            mrk_array_msg.markers.push_back(base_object_to_marker_arrow(bo, rgb.K, header, cv::Scalar(0, 255, 0),id_cnt++));
+            mrk_array_msg.markers.push_back(base_object_to_marker_arrow(bo, rgb.K(), header, cv::Scalar(0, 255, 0),id_cnt++));
         }
         simple_objects_markers_pub_.publish(mrk_array_msg);
     }    

src/lib

@@ -22,7 +22,7 @@ int main(int argc, char **argv)
 
     // Image load
     string image_path = argv[1];        
-    Mat frame = imread(image_path);
+    InfoImage frame = imread(image_path);
 
     if( frame.empty() ){
         printf("Error! Couldn't load image \'%s\'!\n", image_path.c_str());

src/offline/offline_image.cpp

@@ -49,7 +49,7 @@ int main(int argc, char **argv)
     printf("Starting process...\n");
     int seq = 0;
     while(1){
-        Mat frame;
+        InfoImage frame;
         cap >> frame;
 
         if( frame.empty() )

src/offline/offline_video.cpp

@@ -31,7 +31,7 @@ int mir = 1;
 
 int seq;
 
-Mat last_image;
+eod::InfoImage last_image;
 static const std::string OUTPUT_WINDOW = "Blob params collector";
 
 eod::SimpleObject blobObject;
@@ -55,7 +55,7 @@ void imageCallback(const sensor_msgs::ImageConstPtr& msg)
 {
   try
   {
-      last_image = cv_bridge::toCvShare(msg, "bgr8")->image;  
+      last_image = cv_bridge::toCvShare(msg, "bgr8")->image;
 
       blobObject.Identify(last_image, cv::Mat(), seq);
       seq++;

src/utils/blob_params_collector.cpp

@@ -20,7 +20,7 @@ eod::SizeAttribute* sd;
 int seq;
 
 Mat mask;
-Mat last_image;
+eod::InfoImage last_image;
 Mat saved_image;
 int size = 0;
 MatND hist;

src/utils/hist_color_params_collector_contour.cpp

@@ -19,7 +19,7 @@ eod::SizeAttribute* sd;
 int seq;
 
 Mat mask;
-Mat last_image;
+eod::InfoImage last_image;
 Mat saved_image;
 int lo = 20; 
 int up = 20;

src/utils/hist_color_params_collector_point.cpp

@@ -32,7 +32,7 @@ int Mr = 0;
 int size = 0;
 int seq;
 
-Mat last_image;
+eod::InfoImage last_image;
 static const std::string OUTPUT_WINDOW = "Hough circle params collector";
 
 eod::SimpleObject houghObject;