removed alglib from vision

dsgou · Aug 30, 2016 · a5b417e · a5b417e
1 parent 083109b
commit a5b417e
Show file tree

Hide file tree

Showing 8 changed files with 928 additions and 978 deletions.
diff --git a/chroma/src/chroma.cpp b/chroma/src/chroma.cpp
@@ -95,7 +95,7 @@ void Chroma_processing::imageCb(const sensor_msgs::ImageConstPtr& msg)
 	//Blob detection
 	if(display)
 	{
-		detectBlobs(dif_rgb, rgb_rects, 15);
+		detectBlobs(dif_rgb, rgb_rects, 15, true);
 
 		Mat temp = dif_rgb.clone();
 	    for(Rect rect: rgb_rects)

diff --git a/fusion/CMakeLists.txt b/fusion/CMakeLists.txt
@@ -40,7 +40,6 @@ aux_source_directory(src/ SRC_LIST)
 include_directories(
   include
   /usr/include/
-  /usr/include/libalglib/
   ${catkin_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}

diff --git a/fusion/include/fusion.hpp b/fusion/include/fusion.hpp
@@ -26,7 +26,6 @@
 
 using namespace std;
 using namespace cv;
-using namespace alglib;
 
 #define DEPTH_MAX 6000.0  /**< Default maximum distance. Only use this for initialization. */
 #define DEPTH_MIN 0.0  /**< Default minimum distance. Only use this for initialization. */

diff --git a/fusion/src/fusion.cpp b/fusion/src/fusion.cpp
@@ -84,7 +84,7 @@ void Fusion_processing::callback(const sensor_msgs::ImageConstPtr& chroma_msg, c
 	cv::threshold(fusion, fusion, 100, 255, THRESH_BINARY);
 
 	//Detect moving blobs
-	detectBlobs(fusion, fusion_rects, 15);
+	detectBlobs(fusion, fusion_rects, 15, true);
 
 	//Track blobs
 	track(fusion_rects, people);

diff --git a/vision/CMakeLists.txt b/vision/CMakeLists.txt
@@ -12,7 +12,6 @@ catkin_package(INCLUDE_DIRS include
 include_directories(
   include
   /usr/include/
-  /usr/include/libalglib/
   ${OpenCV_INCLUDE_DIRS}
 )
 
@@ -30,7 +29,6 @@ add_library(vision SHARED ${SOURCES})
 target_link_libraries(${PROJECT_NAME} 
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
-  alglib
 )
 
 install(DIRECTORY include/${PROJECT_NAME}/

diff --git a/vision/include/vision.hpp b/vision/include/vision.hpp
@@ -13,13 +13,9 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
-#include <stdafx.h>
-#include <dataanalysis.h>
 
-
-	using namespace std;
-	using namespace cv;
-	using namespace alglib;
+using namespace std;
+using namespace cv;
 
 
 
@@ -41,7 +37,7 @@
 	};
 
 	//Detection and tracking of blobs
-	void detectBlobs(Mat& src, vector< Rect_<int> >& colour_areas, int range);
+	void detectBlobs(Mat& src, vector< Rect_<int> >& colour_areas, int range, bool detect_people);
 	void track(vector< Rect_<int> >& current, People& collection, int rank = 3, float threshold = 0.2);
 
 	//Depth estimation functions
@@ -71,7 +67,6 @@
 	void fixRects(vector< Rect_<int> >& rects, int screenW);
 	void depthToGray(Mat& src, Mat& dst, float min_depth, float max_depth);
 	void grayToDepth(Mat& src, Mat& dst, float max_depth);
-	kmeansreport clusterize(const vector<float>& vec, int clusters);
 
 
 #endif