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Revision b1055c82

IDb1055c828b854143bcc00a315b99ec0386491940

Added by Thomas Mullins about 12 years ago

Nick made some changes to make it compile.

View differences:

vision/CMakeLists.txt
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cmake_minimum_required(VERSION 2.4.6)
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
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find_package(OpenCV REQUIRED)
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# Set the build type.  Options are:


  		




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#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage


  		




  ......




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#rosbuild_link_boost(${PROJECT_NAME} thread)


  		




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#rosbuild_add_executable(example examples/example.cpp)


  		




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#target_link_libraries(example ${PROJECT_NAME})


  		




  
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target_link_libraries(v2v3_converter ${OpenCV_LIBS}) 


  		












  

    
      vision/manifest.xml
    
  





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  <depend package="roscpp"/>


  		




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  <depend package="tf"/>


  		




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  <depend package="geometry_msgs"/>


  		




  
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  <depend package="cv_bridge"/>


  		




  
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  <depend package="opencv2"/>


  		




  
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  <depend package="image_transport"/>


  		




  
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  <depend package="std_msgs"/>


  		




  
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  <depend package="sensor_msgs"/>


  		




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</package>


  		




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      vision/src/v2v3_converter.cpp
    
  





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#include <vision/TargetDescriptor.h>


  		




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#include <geometry_msgs/Point.h>


  		




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#include <tf/transform_listener.h>


  		




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// include opencv


  		




  
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#include <opencv/cv.hpp>


  		




  
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//#include <cv_bridge/cv_bridge.h>


  		




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ros::Publisher pub;


  		




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  ......




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int sk = 255;


  		




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int vk = 255;


  		




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bool isRight(CvImagePtr img, int p){


  		




  
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bool isRight(cv_bridge::CvImagePtr img, int p){


  		




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	return (img->data[p + 1] == img->data[p]);


  		




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}


  		




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bool isLeft(CvImagePtr img, int p){


  		




  
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bool isLeft(cv_bridge::CvImagePtr img, int p){


  		




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	return (img->data[p - 1] == img->data[p]);


  		




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}


  		




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bool isUp(CvImagePtr img, int p){


  		




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


  		




  
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bool isUp(cv_bridge::CvImagePtr img, int p){


  		




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


  		




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}


  		




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bool isDown(CvImagePtr img, int p){


  		




  
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bool isDown(cv_bridge::CvImagePtr img, int p){


  		




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


  		




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}


  		




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bool hasAnAdjacent(CvImagePtr image, int j){


  		




  
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bool hasAnAdjacent(cv_bridge::CvImagePtr image, int j){


  		




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	int nl = image->height; // number of lines


  		




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	int nc = image->width; // number of columns CHECK TO MAKE SURE THIS IS RIGHT AND NOT WITH CHANNELS


  		




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	int pos = j / image->nChannels; 


  		




  ......




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/* Detects the blobs in an image within above defined constraints. Transforms image into 1 


  		




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 * for pixels in the blob, 0 for not in the blob.


  		




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 */


  		




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void detectBlobs(CvImagePtr image, int * comX, int * comY, int * area){


  		




  
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void detectBlobs(cv_bridge::CvImagePtr image, int * comX, int * comY, int * area){


  		




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	int nl = image->height; // number of lines


  		




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	int nc = image->width * image->nChannels; // number of columns


  		




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	int step = image->widthStep; // effective width


  		




  ......




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  Image * source = &orig; // pointer to the image


  		




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  CvImagePtr origRGBImage = toCvCopy(const sensor_msgs::Image& source, 


  		




  
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  cv_bridge::CvImagePtr origRGBImage = toCvCopy(const sensor_msgs::Image& source, 


  		




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	const std::string& encoding = "rgb8"); // convert to OpenCV, CHECK FOR SYNTAX


  		




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  // convert to HSV


  		




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  CvImagePtr HSVImage;


  		




  
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  cv_bridge::CvImagePtr HSVImage;


  		




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  cvCvtColor (origRGBImage, HSVImage, CV_RGB2HSV);


  		




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  // detect blob


  		












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