size relation added

Author: MoscowskyAnton

CMakeLists.txt

@@ -8,8 +8,8 @@ add_compile_options(-std=c++11)
 set(opencv_contrib OFF)
 set(zbar_lib OFF)
 set(TensorFlow OFF)
-set(DLib OFF)
-set(igraph OFF)
+set(DLib ON)
+set(igraph ON)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -125,6 +125,7 @@ add_executable(
     src/lib/relations/LogicRelations.cpp
     src/lib/relations/ThreeDimRangeRelation.cpp
     src/lib/relations/SpaceRelations.cpp
+    src/lib/relations/SizeRelations.cpp
 )
 
 if(TensorFlow)
@@ -312,6 +313,7 @@ add_executable(
     src/lib/relations/LogicRelations.cpp
     src/lib/relations/ThreeDimRangeRelation.cpp
     src/lib/relations/SpaceRelations.cpp
+    src/lib/relations/SizeRelations.cpp
 )
 
 #offline image processor
@@ -363,6 +365,7 @@ add_executable(
     src/lib/relations/LogicRelations.cpp
     src/lib/relations/ThreeDimRangeRelation.cpp
     src/lib/relations/SpaceRelations.cpp
+    src/lib/relations/SizeRelations.cpp
 )
 
 if(TensorFlow)

src/extended_object_detection_node/extended_object_detection_node.cpp

@@ -767,7 +767,7 @@ void video_process_cb(const ros::TimerEvent&){
                 array_objects.objects.push_back(current_object);
             }                                
         }        
-#ifdef IGRAPH
+#ifdef USE_IGRAPH
         // COMPLEX OBJECTS
         extended_object_detection::ComplexObjectArray array_co_msg;        
         for( size_t i = 0 ; i < selected_to_detect_complex_objects.size(); i++){   
@@ -798,9 +798,23 @@ void video_process_cb(const ros::TimerEvent&){
             vector<ExtendedObjectInfo> DetectedComplexObjects;
 
             DetectedComplexObjects = selected_to_detect_complex_objects.at(i)->Identify(last_image, last_depth, seq);     
+            vector<ExtendedObjectInfo> DetectedObjects;
+            
+            for(size_t j = 0; j < DetectedComplexObjects.size(); j++){
+                extended_object_detection::ComplexObject co_msg;
+                                
+                co_msg = ros_msg_from_complex(&DetectedComplexObjects[j], DetectedObjects);                      
+                                
+                co_msg.type_id = selected_to_detect_complex_objects[i]->ID;
+                co_msg.type_name = selected_to_detect_complex_objects[i]->name;
+                    
+                array_co_msg.complex_objects.push_back(co_msg);
+            } 
 
             if( screenOutputFlag || publishImage)
                 selected_to_detect_complex_objects.at(i)->drawAll(image2draw, Scalar(255, 255, 0), 2);
+            
+            
         }
 #endif
         seq++;
@@ -821,7 +835,7 @@ void video_process_cb(const ros::TimerEvent&){
             }
             array_objects.objects.clear();
         }
-#ifdef IGRAPH        
+#ifdef USE_IGRAPH        
         if( array_co_msg.complex_objects.size() > 0){
             array_co_msg.header.stamp = ros::Time::now();
             array_co_msg.header.frame_id = image_frame_id;