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Revision 9262605f

ID9262605f3b5396c97415dd847813ea29b128404d

Added by Nick Stanley about 12 years ago

Now it seg faults but compiles, please check this out if you can help.

View differences:

vision/CMakeLists.txt
23 23 

  		




  24
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#rosbuild_add_executable(v2v3_converter src/v2v3_converter.cpp)


  		




  25
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rosbuild_add_executable(rviz_interactive_target src/rviz_interactive_target.cpp)


  		




  26
  
  
    
<<<<<<< HEAD


  		




  27
  
  
    
=======


  		




  28
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rosbuild_add_executable(newConverter src/converteroverwrite.cpp)


  		




  29
  
  
    
>>>>>>> master


  		




  30
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rosbuild_add_executable(opencvdetect src/opencvdetect.cpp)


  		




  31
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#common commands for building c++ executables and libraries


  		




  ......




  37
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#rosbuild_add_executable(example examples/example.cpp)


  		




  38
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#target_link_libraries(example ${PROJECT_NAME})


  		




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target_link_libraries(opencvdetect ${OpenCV_LIBS}) 


  		




  
  37
  
    
target_link_libraries(opencvdetect /usr/local/include/cvblobs/libblob.a) 


  		












  

    
      vision/src/opencvdetect.cpp
    
  





  13
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#include </home/nstanley/cvblobs8.3_linux/blob.h>


  		




  14
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#include </home/nstanley/cvblobs8.3_linux/BlobResult.h>


  		




  15
  15
  
    

  		




  
  16
  
    
using namespace std;


  		




  
  17
  
    
using namespace cv;


  		




  
  18
  
    

  		




  16
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ros::Publisher pub;


  		




  17
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ros::Publisher img_pub;


  		




  18
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  ......




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//int threshold = 25;


  		




  23
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int filter(int r, int g, int b, int threshold) {


  		




  25
  
  
    
    int orange[3] = {216, 255, 255}; // Orange in HSV


  		




  
  28
  
    
    int orange[3] = {hk,sk,vk}; // Orange in HSV


  		




  26
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    int diff =  (orange[0]-r)*(orange[0]-r) +


  		




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                (orange[1]-g)*(orange[1]-g);


  		




  28
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  ......




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  tf::TransformListener listener;


  		




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  geometry_msgs::Point point;


  		




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  tf::StampedTransform transform;


  		




  39
  
  
    

  		




  40
  
  
    
  int width = orig.width; 


  		




  41
  
  
    
  int height = orig.height;


  		




  42
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  /*try {


  		




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    listener.lookupTransform("/camera", "/kinect", ros::Time(0), transform);


  		




  44
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  }


  		




  ......




  47
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  }*/


  		




  48
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  49
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  // convert to OpenCV


  		




  50
  
  
    

  		




  51
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  sensor_msgs::Image hsvcopy = orig;


  		




  52
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  cv_bridge::CvImagePtr cv_ptr;


  		




  53
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  try{


  		




  ......




  59
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  }


  		




  60
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  61
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  // detect blob


  		




  62
  
  
    

  		




  63
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  IplImage* input;


  		




  
  62
  
    
  input = new IplImage;


  		




  64
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  *input = cv_ptr->image;


  		




  65
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  66
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  IplImage* img;


  		




  ......




  69
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  IplImage* i1;


  		




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  CBlobResult blobs;


  		




  71
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  CBlob blobArea;


  		




  72
  
  
    

  		




  
  71
  
    
  


  		




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  // Initialize images, allocate memory


  		




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  img = cvCloneImage(input);


  		




  76
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  hsv_img = cvCloneImage(img);


  		




  77
  
  
    
  bw_img = cvCloneImage(img);


  		




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


  		




  78
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  i1 = cvCreateImage(cvSize(img->width, img->height), 8, 1);


  		




  79
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  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);


  		




  80
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  // Smooth input image using a Gaussian filter, assign HSV, BW image


  		




  81
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  cvSmooth(input, img, CV_GAUSSIAN, 7, 9, 0 ,0);


  		




  
  87
  
    
  printf("1");


  		




  82
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  cvCvtColor(img, bw_img, CV_RGB2GRAY);


  		




  
  89
  
    
  printf("2");


  		




  83
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  cvCvtColor(img, hsv_img, CV_RGB2HSV);


  		




  
  91
  
    
  printf("3");


  		




  84
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  // Simple filter that creates a mask whose color is near orange in i1


  		




  86
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  for(int i = 0; i < hsv_img->height; i++) {


  		




  ......




  95
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      }


  		




  96
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  }


  		




  97
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  106
  
    
  printf("4");


  		




  98
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  // Detect Blobs using the mask and a threshold for area. Sort blobs according to area


  		




  99
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  blobs = CBlobResult(bw_img, i1, 100/*, true*/);


  		




  100
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  blobs.Filter(blobs, B_INCLUDE, CBlobGetArea(), B_GREATER, 500);


  		












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