[Personalrobots-commit] SF.net SVN: personalrobots:[16084] pkg/trunk

[<vij...@us...>]

Revision: 16084
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16084&view=rev
Author:   vijaypradeep
Date:     2009-05-26 21:15:07 +0000 (Tue, 26 May 2009)

Log Message:
-----------
Minor changes to the laser imaging pipeline

Modified Paths:
--------------
    pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/laser_image_node.py
    pkg/trunk/vision/stereo_checkerboard_detector/src/checkerboard_corners_node.cpp

Modified: pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/laser_image_node.py
===================================================================
--- pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/laser_image_node.py	2009-05-26 21:14:48 UTC (rev 16083)
+++ pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/laser_image_node.py	2009-05-26 21:15:07 UTC (rev 16084)
@@ -53,6 +53,8 @@
 def rescale(x, max_val) :
     lower_lim = max_val*0.0
     upper_lim = max_val*1.0
+    #lower_lim = 2000
+    #upper_lim = 3000
     a = x - lower_lim
     if a <= 0 :
         return chr(0)

Modified: pkg/trunk/vision/stereo_checkerboard_detector/src/checkerboard_corners_node.cpp
===================================================================
--- pkg/trunk/vision/stereo_checkerboard_detector/src/checkerboard_corners_node.cpp	2009-05-26 21:14:48 UTC (rev 16083)
+++ pkg/trunk/vision/stereo_checkerboard_detector/src/checkerboard_corners_node.cpp	2009-05-26 21:15:07 UTC (rev 16084)
@@ -84,7 +84,7 @@
     //bool found = helper_.getCorners(cv_image, cv_corners) ;
     int num_corners ;
     int found = cvFindChessboardCorners( cv_image, board_size_, &cv_corners[0], &num_corners,
-                                         CV_CALIB_CB_ADAPTIVE_THRESH ) ;
+                                         CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE) ;
 
     if(found)
     {
@@ -125,6 +125,13 @@
       {
         for (unsigned int i=0; i<cv_corners.size(); i++)
         {
+          cvCircle(cv_debug, cvPoint(cv_corners[i].x, cv_corners[i].y), 2, cvScalar(0,255,0), 1) ;
+        }
+      }
+      else
+      {
+        for (unsigned int i=0; i<cv_corners.size(); i++)
+        {
           cvCircle(cv_debug, cvPoint(cv_corners[i].x, cv_corners[i].y), 2, cvScalar(255,0,0), 1) ;
         }
       }


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