ROS机器人物体识别（自用）

位置 riki_line_follower

C++文件

/** MIT License
Copyright (c) 2017 Sudarshan Raghunathan
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
*
*@copyright Copyright 2017 Sudarshan Raghunathan
*@file linedetect.cpp
*@author Sudarshan Raghunathan
*@brief  Class linedetect's function definitions
*/
#include "linedetect.hpp"
#include <cv_bridge/cv_bridge.h>
#include <cstdlib>
#include <string>
#include <opencv2/highgui/highgui.hpp>
#include "ros/ros.h"
#include "opencv2/opencv.hpp"
#include "ros/console.h"
#include "riki_line_follower/pos.h"
#include <time.h>
using namespace std;
using namespace cv;

void LineDetect::imageCallback(const sensor_msgs::ImageConstPtr& msg) {
   
  cv_bridge::CvImagePtr cv_ptr;
  try {
   
    cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
    img = cv_ptr->image;
    cv::waitKey(30);
  }
  catch (cv_bridge::Exception& e) {
   
    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
  }
}

bool verify(vector<Point> input, int min, int max);

cv::Mat LineDetect::Gauss(cv::Mat input) {
   
  cv::Mat output;
// Applying Gaussian Filter
  cv::GaussianBlur(input, output, cv::Size(3, 3), 0.1, 0.1);
  return output;
}

int LineDetect::colorthresh(cv::Mat input) {
   
  // Initializaing variables
  cv::Size s = input.size();
  std::vector<std::vector<cv::Point> > v;
  std::vector<std::vector<cv::Point> > e;
  vector<Vec4i> hierarchy;
  auto w = s.width;