update so it can be built on kinetic

tzven0 · Feb 26, 2018 · 00365f0 · 00365f0
1 parent 5a8a29c
commit 00365f0
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Showing 4 changed files with 27 additions and 10 deletions.
diff --git a/include/hdl_people_detection/background_subtractor.hpp b/include/hdl_people_detection/background_subtractor.hpp
@@ -154,7 +154,7 @@ class BackgroundSubtractor {
     marker->colors.reserve(8192);
     marker->points.reserve(8192);
 
-    for (Eigen::SparseVector<bool>::InnerIterator itr(occupancy_map); itr; ++itr) {
+    for (Eigen::SparseVector<int>::InnerIterator itr(occupancy_map); itr; ++itr) {
       if (itr.value() < occupancy_thresh) {
         continue;
       }

diff --git a/include/hdl_people_detection/kidono_human_classifier.h b/include/hdl_people_detection/kidono_human_classifier.h
@@ -25,7 +25,13 @@ class KidonoHumanClassifier {
   bool predict(const pcl::PointCloud<pcl::PointXYZI>::ConstPtr& cloud) const;
 
 private:
-  cv::Boost boost;
+#if CV_VERSION_EPOCH == 2
+  using CvBoost = cv::Boost;
+#else
+  using CvBoost = cv::ml::Boost;
+#endif
+
+  cv::Ptr<CvBoost> boost;
   kkl::ml::SvmScale scale;
 };
 

diff --git a/include/hdl_people_tracking/people_tracker.hpp b/include/hdl_people_tracking/people_tracker.hpp
@@ -6,7 +6,6 @@
 #include <Eigen/Dense>
 #include <boost/optional.hpp>
 #include <opencv2/opencv.hpp>
-#include <grace_msgs/Detection.h>
 
 #include <kkl/alg/data_association.hpp>
 #include <kkl/alg/nearest_neighbor_association.hpp>

diff --git a/src/kidono_human_classifier.cpp b/src/kidono_human_classifier.cpp
@@ -1,5 +1,6 @@
 #include <hdl_people_detection/kidono_human_classifier.h>
 
+#include <ros/ros.h>
 #include <hdl_people_detection/kidono_feature_extractor.hpp>
 
 
@@ -8,25 +9,36 @@ namespace hdl_people_detection {
 KidonoHumanClassifier::KidonoHumanClassifier(const std::string &modelfile, const std::string &scalefile)
   : scale(scalefile, 213)
 {
-  boost.load(modelfile.c_str());
-  if(!boost.get_data()) {
-    std::cerr << "warning : failed to load boosting model!!" << std::endl;
-    std::cerr << "        : boosting is disabled!!" << std::endl;
-  }
+#if CV_VERSION_EPOCH == 2
+    boost = cv::Ptr<cv::Boost>(new cv::Boost());
+    boost->load(modelfile.c_str());
+    if(!boost->get_data()) {
+      ROS_ERROR("failed to read boost model!!");
+      ROS_ERROR("boost disabled");
+      boost.release();
+    }
+#else
+    boost = cv::ml::Boost::load(modelfile);
+    if(boost->empty()) {
+      ROS_ERROR("failed to read boost model!!");
+      ROS_ERROR("boost disabled");
+      boost.release();
+    }
+#endif
 }
 
 KidonoHumanClassifier::~KidonoHumanClassifier() {}
 
 bool KidonoHumanClassifier::predict(const pcl::PointCloud<pcl::PointXYZI>::ConstPtr &cloud) const {
-  if(!boost.get_data()) {
+  if(boost.empty()) {
     return true;
   }
 
   KidonoFeatureExtractor extractor;
   auto feature = extractor.extract(cloud);
   auto scaled = scale.scaling(feature);
 
-  return boost.predict(scaled) > 0.0f;
+  return boost->predict(scaled) > 0.0f;
 }
 
 }