added vision lib

dsgou · May 5, 2016 · 16046ef · 16046ef
1 parent 82a3342
commit 16046ef
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Showing 15 changed files with 1,602 additions and 2,937 deletions.
diff --git a/chroma/CMakeLists.txt b/chroma/CMakeLists.txt
@@ -3,9 +3,6 @@ project(chroma)
 
 set(CMAKE_CXX_FLAGS "-std=c++11")
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   cv_bridge
   image_transport
@@ -22,15 +19,22 @@ aux_source_directory(src/ SRC_LIST)
 
 include_directories(
   include
+  /usr/include/
   ${catkin_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
 )
 
-add_executable(chroma ${SRC_LIST})
 
-link_directories(/usr/include /usr/lib/x86_64-linux-gnu/)
+link_directories(
+  /usr/lib/
+  /usr/local/lib/ 
+  /usr/lib/x86_64-linux-gnu/ 
+)
+
+add_executable(chroma ${SRC_LIST})
 
 target_link_libraries(${PROJECT_NAME} 
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
+  libvision.so
 )
diff --git a/chroma/CMakeLists.txt~ b/chroma/CMakeLists.txt~
@@ -3,9 +3,6 @@ project(chroma)
 
 set(CMAKE_CXX_FLAGS "-std=c++11")
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   cv_bridge
   image_transport
@@ -22,16 +19,22 @@ aux_source_directory(src/ SRC_LIST)
 
 include_directories(
   include
+  /usr/include/
   ${catkin_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
 )
 
 
-add_executable(chroma ${SRC_LIST})
+link_directories(
+  /usr/lib/
+  /usr/local/lib/ 
+  /usr/lib/x86_64-linux-gnu/ 
+)
 
-link_directories(/usr/include /usr/lib/x86_64-linux-gnu/)
+add_executable(chroma ${SRC_LIST})
 
 target_link_libraries(${PROJECT_NAME} 
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
+  libvision.so
 )
diff --git a/chroma/include/chroma.hpp b/chroma/include/chroma.hpp
@@ -21,49 +21,20 @@
 #include <limits>
 #include <opencv2/video/background_segm.hpp>
 #include <exception>
+#include <vision.hpp>
 
 using namespace std;
 using namespace cv;
 
 class Chroma_processing
 {
 	public:
-
-		struct Position 
-		{
-			float x = 0.0;
-			float y = 0.0;
-			float z = 0.0;
-			float height = 0.0;
-			float distance = 0.0;
-		};
-
-		struct People 
-		{
-			vector< Rect_<int> > tracked_boxes;
-			vector< float > tracked_rankings;
-			vector< Position > tracked_pos;
-		};
-
-
+
 		Chroma_processing();
 		~Chroma_processing();
 
 		//image and depth callbacks
 		void imageCb(const sensor_msgs::ImageConstPtr& msg);
-
-		//Background & foreground estimation, to be used in sequence
-		void estimateBackground(Mat& src, Mat& dst, vector<Mat>& storage, int recursion, float ratio = 0.04, int index = 0);
-		void estimateForeground(Mat& src1, Mat& src2, Mat& dst);
-
-		//Detection and tracking of blobs
-		void detectBlobs(const Mat& src, vector< Rect_<int> >& colour_areas, int range);
-		void track(vector< Rect_<int> >& current, People& collection, int rank = 3, float threshold = 0.2);
-
-		//helper functions
-		int threshold(Mat& src, Mat& dst, int thresh);
-		inline void gammaCorrection(Mat& src);
-		void frameDif(Mat& src1, Mat& src2, Mat& dst, float threshold);
 
 
 	private:
@@ -86,7 +57,6 @@ class Chroma_processing
 
 		vector< Rect_<int> > rgb_rects;
 
-
 		bool playback_topics;
 		bool display;
 		bool has_image = false;