[Personalrobots-commit] SF.net SVN: personalrobots:[12996] pkg/trunk

[<mar...@us...>]

Revision: 12996
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=12996&view=rev
Author:   mariusmuja
Date:     2009-03-26 01:06:40 +0000 (Thu, 26 Mar 2009)

Log Message:
-----------
Outlet spotting publishes a BoundingBoxStamped message now.

Modified Paths:
--------------
    pkg/trunk/vision/outlet_spotting/detect.launch
    pkg/trunk/vision/outlet_spotting/src/outlet_spotting.cpp

Added Paths:
-----------
    pkg/trunk/prcore/robot_msgs/msg/BoundingBoxStamped.msg

Added: pkg/trunk/prcore/robot_msgs/msg/BoundingBoxStamped.msg
===================================================================
--- pkg/trunk/prcore/robot_msgs/msg/BoundingBoxStamped.msg	                        (rev 0)
+++ pkg/trunk/prcore/robot_msgs/msg/BoundingBoxStamped.msg	2009-03-26 01:06:40 UTC (rev 12996)
@@ -0,0 +1,3 @@
+Header header
+robot_msgs/Point32 center
+robot_msgs/Point32 extents
\ No newline at end of file

Modified: pkg/trunk/vision/outlet_spotting/detect.launch
===================================================================
--- pkg/trunk/vision/outlet_spotting/detect.launch	2009-03-26 01:00:53 UTC (rev 12995)
+++ pkg/trunk/vision/outlet_spotting/detect.launch	2009-03-26 01:06:40 UTC (rev 12996)
@@ -23,6 +23,8 @@
 
   <node pkg="dcam" type="stereodcam" respawn="false"/>
   <node pkg="stereo_image_proc" type="stereoproc" respawn="false"/>
-  <node pkg="outlet_spotting" name="outlet_spotting" type="outlet_spotting" respawn="false" output="screen"/>
+  <node pkg="outlet_spotting" name="outlet_spotting" type="outlet_spotting" respawn="false" output="screen">
+    <param name="display" type="bool" value="True"/>
+    </node>
 </launch>
 

Modified: pkg/trunk/vision/outlet_spotting/src/outlet_spotting.cpp
===================================================================
--- pkg/trunk/vision/outlet_spotting/src/outlet_spotting.cpp	2009-03-26 01:00:53 UTC (rev 12995)
+++ pkg/trunk/vision/outlet_spotting/src/outlet_spotting.cpp	2009-03-26 01:06:40 UTC (rev 12996)
@@ -55,7 +55,7 @@
 #include "image_msgs/Image.h"
 #include "robot_msgs/PointCloud.h"
 #include "robot_msgs/Point32.h"
-#include "robot_msgs/OrientedBoundingBox.h"
+#include "robot_msgs/BoundingBoxStamped.h"
 #include "std_msgs/UInt8.h" //for projector status
 
 
@@ -89,7 +89,7 @@
 
 	robot_msgs::PointCloud cloud;
 
-	robot_msgs::OrientedBoundingBox outlet_bbox;
+	robot_msgs::BoundingBoxStamped outlet_bbox;
 
 	IplImage* left;
 //	IplImage* right;''
@@ -142,7 +142,7 @@
 
 		sync.ready();
 
-		advertise<OrientedBoundingBox>("stereo/outlet_bbox",1);
+		advertise<BoundingBoxStamped>("stereo/outlet_bbox",1);
 	}
 
 	~OutletSpotting()
@@ -547,6 +547,10 @@
 //		}
 
 
+		//publish bounding_box
+		outlet_bbox.header.frame_id = cloud.header.frame_id;
+		outlet_bbox.header.stamp = cloud.header.stamp;
+
 		outlet_bbox.center.x = (bb_min.x+bb_max.x)/2;
 		outlet_bbox.center.y = (bb_min.y+bb_max.y)/2;
 		outlet_bbox.center.z = (bb_min.z+bb_max.z)/2;
@@ -555,8 +559,6 @@
 		outlet_bbox.extents.y = (bb_max.y-bb_min.y)/2;
 		outlet_bbox.extents.z = (bb_max.z-bb_min.z)/2;
 
-		outlet_bbox.angle = 0;
-
 		publish("stereo/outlet_bbox", outlet_bbox);
 
 		return true;


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.