Revision 14c71a7d

View differences:

vision/CMakeLists.txt
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rosbuild_add_executable(v2v3_converter src/v2v3_converter.cpp)


  		




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rosbuild_add_executable(rviz_interactive_target src/rviz_interactive_target.cpp)


  		




  
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rosbuild_add_executable(newConverter src/converteroverwrite.cpp)


  		




  
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rosbuild_add_executable(opencvdetect src/opencvdetect.cpp)


  		




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#common commands for building c++ executables and libraries


  		




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#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)


  		












  

    
      vision/manifest.xml
    
  





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  <depend package="sensor_msgs"/>


  		




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  <depend package="visualization_msgs"/>


  		




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  <depend package="interactive_markers"/>


  		




  
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  <depend package="cv_bridge"/>


  		




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</package>


  		




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      vision/msg_gen/cpp/include/vision/TargetDescriptor.h
    
  





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/* Auto-generated by genmsg_cpp for file /home/parallels/quadrotor/vision/msg/TargetDescriptor.msg */


  		




  
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/* Auto-generated by genmsg_cpp for file /home/nstanley/ros_workspace/quadrotor/vision/msg/TargetDescriptor.msg */


  		




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#ifndef VISION_MESSAGE_TARGETDESCRIPTOR_H


  		




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#define VISION_MESSAGE_TARGETDESCRIPTOR_H


  		




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#include <string>


  		












  

    
      vision/src/v2v3_converter.cpp
    
  





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#nclude <ros/ros.h>


  		




  
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#include <ros/ros.h>


  		




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#include <stdio.h>


  		




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#include <vision/TargetDescriptor.h>


  		




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#include <image_transport/image_transport.h>


  		




  ......




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ros::Publisher pub; // publishes Point


  		




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ros::Publisher img_pub; //publishes Image with only blob showing


  		




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int hk = 15; // target hsv values


  		




  
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int hk = 216; // target hsv values


  		




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int sk = 255;


  		




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int vk = 255;


  		




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  ......




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	return (img->data[p + img->width] == img->data[p]);


  		




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}


  		




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int min(int a, int b){


  		




  
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	if (a <= b) return a;


  		




  
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	else return b;


  		




  
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}


  		




  
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int max(int a, int b){


  		




  
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	if (a >= b) return a;


  		




  
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	else return b;


  		




  
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}


  		




  
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/* Checks for any adjacent pixel, ensuring a continuous blob.


  		




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 */


  		




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bool hasAnAdjacent(sensor_msgs::Image * image, int j){


  		




  ......




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      int h;


  		




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      int s;


  		




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      int v; 


  		




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      int min;


  		




  
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      int low;


  		




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      // get min, max


  		




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      v = max(max(orig->data[i], orig->data[i+1]), orig->data[i+2]);


  		




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      min = min(min(orig->data[i], orig->data[i+1]), orig->data[i+2]);


  		




  
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      low = min(min(orig->data[i], orig->data[i+1]), orig->data[i+2]);


  		




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      // set s


  		




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      if (v != 0){


  		




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      s = (v - min) / v; 


  		




  
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      s = (v - low) / v; 


  		




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      }


  		




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      else s = 0;


  		




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