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Revision 14c71a7d

ID14c71a7d5ad2769dcf1a98442a6532eb4d5da442

Added by Nick Stanley about 12 years ago

Edited and so it works, with the exception of now losing all of the CBlobResults includes when linking. I'm going to figure that out next.

View differences:

vision/CMakeLists.txt
23 23 

  		




  24
  24
  
    
rosbuild_add_executable(v2v3_converter src/v2v3_converter.cpp)


  		




  25
  25
  
    
rosbuild_add_executable(rviz_interactive_target src/rviz_interactive_target.cpp)


  		




  
  26
  
    
rosbuild_add_executable(newConverter src/converteroverwrite.cpp)


  		




  
  27
  
    
rosbuild_add_executable(opencvdetect src/opencvdetect.cpp)


  		




  26
  28
  
    

  		




  27
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#common commands for building c++ executables and libraries


  		




  28
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#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)


  		












  

    
      vision/manifest.xml
    
  





  16
  16
  
    
  <depend package="sensor_msgs"/>


  		




  17
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  <depend package="visualization_msgs"/>


  		




  18
  18
  
    
  <depend package="interactive_markers"/>


  		




  
  19
  
    
  <depend package="cv_bridge"/>


  		




  19
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  20
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</package>


  		




  21
  22
  
    

  		












  

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





  1
  
  
    
/* Auto-generated by genmsg_cpp for file /home/parallels/quadrotor/vision/msg/TargetDescriptor.msg */


  		




  
  1
  
    
/* Auto-generated by genmsg_cpp for file /home/nstanley/ros_workspace/quadrotor/vision/msg/TargetDescriptor.msg */


  		




  2
  2
  
    
#ifndef VISION_MESSAGE_TARGETDESCRIPTOR_H


  		




  3
  3
  
    
#define VISION_MESSAGE_TARGETDESCRIPTOR_H


  		




  4
  4
  
    
#include <string>


  		












  

    
      vision/src/v2v3_converter.cpp
    
  





  1
  
  
    
#nclude <ros/ros.h>


  		




  
  1
  
    
#include <ros/ros.h>


  		




  2
  2
  
    
#include <stdio.h>


  		




  3
  3
  
    
#include <vision/TargetDescriptor.h>


  		




  4
  4
  
    
#include <image_transport/image_transport.h>


  		




  ......




  8
  8
  
    
ros::Publisher pub; // publishes Point


  		




  9
  9
  
    
ros::Publisher img_pub; //publishes Image with only blob showing


  		




  10
  10
  
    

  		




  11
  
  
    
int hk = 15; // target hsv values


  		




  
  11
  
    
int hk = 216; // target hsv values


  		




  12
  12
  
    
int sk = 255;


  		




  13
  13
  
    
int vk = 255;


  		




  14
  14
  
    

  		




  ......




  32
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	return (img->data[p + img->width] == img->data[p]);


  		




  33
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}


  		




  34
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  35
  
    
int min(int a, int b){


  		




  
  36
  
    
	if (a <= b) return a;


  		




  
  37
  
    
	else return b;


  		




  
  38
  
    
}


  		




  
  39
  
    

  		




  
  40
  
    
int max(int a, int b){


  		




  
  41
  
    
	if (a >= b) return a;


  		




  
  42
  
    
	else return b;


  		




  
  43
  
    
}


  		




  
  44
  
    

  		




  35
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/* Checks for any adjacent pixel, ensuring a continuous blob.


  		




  36
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 */


  		




  37
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bool hasAnAdjacent(sensor_msgs::Image * image, int j){


  		




  ......




  122
  132
  
    
      int h;


  		




  123
  133
  
    
      int s;


  		




  124
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      int v; 


  		




  125
  
  
    
      int min;


  		




  
  135
  
    
      int low;


  		




  126
  136
  
    

  		




  127
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      // get min, max


  		




  128
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      v = max(max(orig->data[i], orig->data[i+1]), orig->data[i+2]);


  		




  129
  
  
    
      min = min(min(orig->data[i], orig->data[i+1]), orig->data[i+2]);


  		




  
  139
  
    
      low = min(min(orig->data[i], orig->data[i+1]), orig->data[i+2]);


  		




  130
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  131
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      // set s


  		




  132
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      if (v != 0){


  		




  133
  
  
    
      s = (v - min) / v; 


  		




  
  143
  
    
      s = (v - low) / v; 


  		




  134
  144
  
    
      }


  		




  135
  145
  
    
      else s = 0;


  		




  136
  146
  
    

  		












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