Revision 14c71a7d
| ID | 14c71a7d5ad2769dcf1a98442a6532eb4d5da442 |
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.
| 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> |
| ... | ... | |
| 8 | 8 |
ros::Publisher pub; // publishes Point |
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ros::Publisher img_pub; //publishes Image with only blob showing |
| 10 | 10 |
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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; |
| 14 | 14 |
|
| ... | ... | |
| 32 | 32 |
return (img->data[p + img->width] == img->data[p]); |
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} |
| 34 | 34 |
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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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| ... | ... | |
| 122 | 132 |
int h; |
| 123 | 133 |
int s; |
| 124 | 134 |
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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| 130 | 140 |
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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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| 134 | 144 |
} |
| 135 | 145 |
else s = 0; |
| 136 | 146 |
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