add new message type BoundingBox
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0e85119c64
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4 changed files with 18 additions and 3 deletions
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@ -6,16 +6,25 @@ find_package(catkin REQUIRED COMPONENTS
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std_msgs
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image_transport
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cv_bridge
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message_generation
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)
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find_package(OpenCV)
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add_message_files(
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FILES
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BoundingBox.msg
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)
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generate_messages()
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catkin_package(CATKIN_DEPENDS
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roscpp
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std_msgs
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image_transport
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cv_bridge
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message_runtime
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)
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include_directories (${catkin_INCLUDE_DIRS})
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add_executable (papillon src/papillon.cpp)
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4
msg/BoundingBox.msg
Normal file
4
msg/BoundingBox.msg
Normal file
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@ -0,0 +1,4 @@
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float64 x
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float64 y
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float64 width
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float64 height
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@ -45,10 +45,12 @@
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<build_depend>std_msgs</build_depend>
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<build_depend>image_transport</build_depend>
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<build_depend>cv_bridge</build_depend>
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<build_depend>message_generation</build_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>std_msgs</run_depend>
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<run_depend>image_transport</run_depend>
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<run_depend>cv_bridge</run_depend>
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<run_depend>message_runtime</run_depend>
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@ -2,7 +2,7 @@
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#include <image_transport/image_transport.h>
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#include <cv_bridge/cv_bridge.h>
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#include <sensor_msgs/image_encodings.h>
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#include <geometry_msgs/Twist.h>
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#include <papillon/BoundingBox.h>
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#include <opencv/cv.h>
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@ -19,7 +19,7 @@ class Traite_image {
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cv::Mat prev;
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cv::Mat last_T;
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bool first = true;
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int resize_f = 2;
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int resize_f = 1;
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int theObject[2] = {0,0};
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cv::Rect objectBoundingRectangle = cv::Rect(0,0,0,0);
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@ -34,7 +34,7 @@ class Traite_image {
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Traite_image() : n("~"),it(n) {
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pub_img = it.advertise("/image_out", 1);
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pub_cmd = n.advertise<geometry_msgs::Twist>("/vrep/drone/cmd_vel", 1);
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pub_cmd = n.advertise<papillon::BoundingBox>("/bbox", 1);
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sub = it.subscribe("/usb_cam/image_raw", 1, [this](const sensor_msgs::ImageConstPtr& img) -> void { this->on_image(img);},ros::VoidPtr(),image_transport::TransportHints("compressed"));
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}
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