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ajout du noeud qui calculera les descripteurs de Fourrier

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This commit is contained in:
Guillaume Courrier 2019-12-09 22:10:55 +01:00
parent 1d8ada838d
commit 14320925be
3 changed files with 38 additions and 0 deletions
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5
ROS/gesture_based_control/CMakeLists.txt
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@ -7,6 +7,8 @@ find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
std_msgs
cv_bridge
image_transport
)
catkin_package()
@ -17,3 +19,6 @@ include_directories(
add_executable(controller src/controller.cpp)
target_link_libraries(controller ${catkin_LIBRARIES})
add_executable(descripteur src/descripteur.cpp)
target_link_libraries(descripteur ${catkin_LIBRARIES})

3
ROS/gesture_based_control/launch/gesture_control.launch
View file

@ -7,4 +7,7 @@
<remap from="/cmd_vel" to="/turtle1/cmd_vel"/>
</node>
<node name="turtle" pkg="turtlesim" type="turtlesim_node"/>
<node name="descripteur" pkg="gesture_based_control" type="descripteur" output="screen">
<remap from="/image_raw" to="/usb_cam/image_raw"/>
</node>
</launch>

30
ROS/gesture_based_control/src/descripteur.cpp Normal file
View file

@ -0,0 +1,30 @@
#include <ros/ros.h>
#include <opencv2/opencv.hpp>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
//#include <math.hpp>
void callback(const sensor_msgs::ImageConstPtr& msg) {
cv_bridge::CvImagePtr cv_ptr;
try {
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
}catch(cv_bridge::Exception& e) {
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
const cv::Mat& input = cv_ptr->image;
}
int main(int argc, char** argv) {
ros::init(argc, argv, "descripteur");
ros::NodeHandle n;
image_transport::ImageTransport it(n);
image_transport::Subscriber sub = it.subscribe("/image_raw", 1, callback);
ros::spin();
}