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Revision 32006eb7

ID32006eb7cceaf9bbd39d44169a7eaa8a9fbda929

Added by Thomas Mullins about 12 years ago

Fixed segfault in opencvdetect

View differences:

vision/src/opencvdetect.cpp
35 35 

  		




  36
  36
  
    
void target_cb(const sensor_msgs::Image orig) {


  		




  37
  37
  
    

  		




  38
  
  
    
  printf("beginning callback \n");


  		




  39
  38
  
    
  tf::TransformListener listener;


  		




  40
  39
  
    
  geometry_msgs::Point point;


  		




  41
  40
  
    
  tf::StampedTransform transform;


  		




  ......




  58
  57
  
    
  }


  		




  59
  58
  
    

  		




  60
  59
  
    
  // detect blob


  		




  61
  
  
    
  IplImage* input;


  		




  62
  
  
    
  input = new IplImage;


  		




  63
  
  
    
  *input = cv_ptr->image;


  		




  
  60
  
    
  IplImage input(cv_ptr->image);


  		




  64
  61
  
    

  		




  65
  62
  
    
  IplImage* img;


  		




  66
  63
  
    
  IplImage *hsv_img;


  		




  ......




  71
  68
  
    
  


  		




  72
  69
  
    
  // Initialize images, allocate memory


  		




  73
  70
  
    

  		




  74
  
  
    
  img = cvCloneImage(input);


  		




  
  71
  
    
  img = cvCloneImage(&input);


  		




  75
  72
  
    
  hsv_img = cvCloneImage(img);


  		




  76
  
  
    
  bw_img = cvCreateImage(cvSize(img->width, img->height), 8, 1);;


  		




  
  73
  
    
  bw_img = cvCreateImage(cvSize(img->width, img->height), 8, 1);


  		




  77
  74
  
    
  i1 = cvCreateImage(cvSize(img->width, img->height), 8, 1);


  		




  78
  75
  
    

  		




  79
  
  
    
  printf("Initialized!\n");


  		




  80
  
  
    
  printf("%x\n", input);


  		




  81
  
  
    
  printf("%x\n", img);


  		




  82
  
  
    
  printf("%x\n", hsv_img);


  		




  83
  
  
    
  printf("%x\n", bw_img);


  		




  84
  
  
    
  printf("%x\n", i1);


  		




  85
  76
  
    
  // Smooth input image using a Gaussian filter, assign HSV, BW image


  		




  86
  
  
    
  cvSmooth(input, img, CV_GAUSSIAN, 7, 9, 0 ,0);


  		




  87
  
  
    
  printf("1");


  		




  
  77
  
    
  cvSmooth(&input, img, CV_GAUSSIAN, 7, 9, 0 ,0);


  		




  88
  78
  
    
  cvCvtColor(img, bw_img, CV_RGB2GRAY);


  		




  89
  
  
    
  printf("2");


  		




  90
  79
  
    
  cvCvtColor(img, hsv_img, CV_RGB2HSV);


  		




  91
  
  
    
  printf("3");


  		




  92
  80
  
    

  		




  93
  81
  
    
  // Simple filter that creates a mask whose color is near orange in i1


  		




  94
  82
  
    
  for(int i = 0; i < hsv_img->height; i++) {


  		




  ......




  103
  91
  
    
      }


  		




  104
  92
  
    
  }


  		




  105
  93
  
    

  		




  106
  
  
    
  printf("4");


  		




  107
  94
  
    
  // Detect Blobs using the mask and a threshold for area. Sort blobs according to area


  		




  108
  95
  
    
  blobs = CBlobResult(bw_img, i1, 100/*, true*/);


  		




  109
  96
  
    
  blobs.Filter(blobs, B_INCLUDE, CBlobGetArea(), B_GREATER, 500);


  		




  ......




  129
  116
  
    
  blob_image.data = *(img->imageData); */


  		




  130
  117
  
    
  img_pub.publish(blob_image);  


  		




  131
  118
  
    

  		




  132
  
  
    
  // Clean up 


  		




  
  119
  
    
  // Clean up


  		




  133
  120
  
    
  cvReleaseImage(&i1);


  		




  134
  121
  
    
  cvReleaseImage(&bw_img);


  		




  135
  122
  
    
  cvReleaseImage(&hsv_img);


  		




  136
  123
  
    
  cvReleaseImage(&img);


  		




  137
  
  
    
  cvReleaseImage(&input);


  		




  138
  124
  
    

  		




  139
  125
  
    
  //int comX; 


  		




  140
  126
  
    
  //int comY;


  		




  ......




  158
  144
  
    
    


  		




  159
  145
  
    
//  pub.publish(origPoint);


  		




  160
  146
  
    

  		




  161
  
  
    
  printf("Ending callback\n");


  		




  162
  
  
    

  		




  163
  147
  
    
}


  		




  164
  148
  
    

  		




  165
  149
  
    
void target_cb_test(const sensor_msgs::Image image){


  		












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