static void lane_cannyhough_callback(const sensor_msgs::Image& image_source)
{
cv_bridge::CvImagePtr cv_image = cv_bridge::toCvCopy(image_source, sensor_msgs::image_encodings::BGR8);
IplImage frame = cv_image->image;
process_image_common(&frame);
cvWaitKey(2);
}
int main(int argc, char *argv[])
{
#if defined(USE_POSIX_SHARED_MEMORY)
attach_ShareMem();
while (1)
{
CvMemStorage *houghStorage = cvCreateMemStorage(0);
IplImage *frame = getImage_fromSHM();
process_image_common(frame);
cvReleaseImage(frame);
}
detach_ShareMem();
#else
ros::init(argc, argv, "line_ocv");
ros::NodeHandle n;
ros::Subscriber subscriber = n.subscribe("/image_raw", 1, lane_cannyhough_callback);
image_lane_objects = n.advertise<lane_detector::ImageLaneObjects>("lane_pos_xy", 1);
ros::spin();
#endif
return 0;
}
int main(int argc, char *argv[])
{
#if defined(USE_POSIX_SHARED_MEMORY)
attach_ShareMem();
while (1)
{
CvMemStorage *houghStorage = cvCreateMemStorage(0);
IplImage *frame = getImage_fromSHM();
process_image_common(frame);
cvReleaseImage(frame);
}
detach_ShareMem();
#else
ros::init(argc, argv, "line_ocv");
ros::NodeHandle n;
ros::NodeHandle private_nh("~");
std::string image_topic_name;
private_nh.param<std::string>("image_raw_topic", image_topic_name, "/image_raw");
ROS_INFO("Setting image topic to %s", image_topic_name.c_str());
ros::Subscriber subscriber = n.subscribe(image_topic_name, 1, lane_cannyhough_callback);
image_lane_objects = n.advertise<lane_detector::ImageLaneObjects>("lane_pos_xy", 1);
ros::spin();
#endif
return 0;
}