From 14320925be0f654354575dd893597bfac4df6422 Mon Sep 17 00:00:00 2001
From: Guillaume Courrier <guillaume.courrier@supelec.fr>
Date: Mon, 9 Dec 2019 22:10:55 +0100
Subject: [PATCH] ajout du noeud qui calculera les descripteurs de Fourrier

---
 ROS/gesture_based_control/CMakeLists.txt      |  5 ++++
 .../launch/gesture_control.launch             |  3 ++
 ROS/gesture_based_control/src/descripteur.cpp | 30 +++++++++++++++++++
 3 files changed, 38 insertions(+)
 create mode 100644 ROS/gesture_based_control/src/descripteur.cpp

diff --git a/ROS/gesture_based_control/CMakeLists.txt b/ROS/gesture_based_control/CMakeLists.txt
index 7b4e5ce..c77ce27 100644
--- a/ROS/gesture_based_control/CMakeLists.txt
+++ b/ROS/gesture_based_control/CMakeLists.txt
@@ -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})
diff --git a/ROS/gesture_based_control/launch/gesture_control.launch b/ROS/gesture_based_control/launch/gesture_control.launch
index 316aa9a..53a1e39 100644
--- a/ROS/gesture_based_control/launch/gesture_control.launch
+++ b/ROS/gesture_based_control/launch/gesture_control.launch
@@ -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>
diff --git a/ROS/gesture_based_control/src/descripteur.cpp b/ROS/gesture_based_control/src/descripteur.cpp
new file mode 100644
index 0000000..b50f715
--- /dev/null
+++ b/ROS/gesture_based_control/src/descripteur.cpp
@@ -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();
+}