ROS_Robot/wpr_simulation2
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update demo_9

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This commit is contained in:
Robot 2023-09-22 20:09:11 +08:00
parent c7cafc936c
commit 6fede8af8d
4 changed files with 4 additions and 37 deletions
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10
demo_cpp/9_cv_face_detect.cpp
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@ -12,15 +12,7 @@ rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr frame_pub;
void CamRGBCallback(const sensor_msgs::msg::Image::SharedPtr msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
RCLCPP_ERROR(node->get_logger(), "cv_bridge exception: %s", e.what());
return;
}
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
imgFace = cv_ptr->image;

10
demo_cpp/9_cv_follow.cpp
View File

@ -25,15 +25,7 @@ rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub; // Velocity pub
void Cam_RGB_Callback(const sensor_msgs::msg::Image::SharedPtr msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
RCLCPP_ERROR(node->get_logger(), "cv_bridge exception: %s", e.what());
return;
}
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
Mat imgOriginal = cv_ptr->image;

11
demo_cpp/9_cv_hsv.cpp
View File

@ -20,17 +20,8 @@ static int iHighV = 255;
void CamRGBCallback(const sensor_msgs::msg::Image::SharedPtr msg)
{
// RCLCPP_INFO(rclcpp::get_logger("Cam_RGB_Callback"), "Cam_RGB_Callback");
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
RCLCPP_ERROR(node->get_logger(), "cv_bridge exception: %s", e.what());
return;
}
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
Mat imgOriginal = cv_ptr->image;

10
demo_cpp/9_cv_image.cpp
View File

@ -9,15 +9,7 @@ std::shared_ptr<rclcpp::Node> node;
void CamRGBCallback(const sensor_msgs::msg::Image::SharedPtr msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
RCLCPP_ERROR(node->get_logger(), "cv_bridge exception: %s", e.what());
return;
}
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
cv::Mat imgOriginal = cv_ptr->image;
cv::imshow("RGB", imgOriginal);