Buoy::Buoy(std::string name) : _it(_n), _s(_n, name, boost::bind(&Buoy::executCB, this, _1), false), _actionName(name)
{
_sub = _it.subscribe("videoimage", 1, &Buoy::imageCallBack, this);
_pub = _it.advertise("bottomcamprocessed", 1);
ifstream _thresholdVal("/home/madhukar/threshold.th");
if(_thresholdVal.is_open())
{
for(int i = 0; i < 3; i++)
{
_thresholdVal >> _lowerThresh[i];
}
for(int i = 0; i < 3; i++)
{
_thresholdVal >> _upperThresh[i];
}
}
else
{
Vgate::Vgate(std::string name) : _it(_n), _s(_n, name, boost::bind(&Vgate::executCB, this, _1), false), _actionName(name)
{
_sub = _it.subscribe(topics::CAMERA_BOTTOM_RAW_IMAGE, 1, &Vgate::imageCallBack, this);
_pub = _it.advertise(topics::CAMERA_BOTTOM_VGATE_IMAGE, 1);
ifstream _thresholdVal("threshold.th");
if(_thresholdVal.is_open())
{
for(int i = 0; i < 3; i++)
{
_thresholdVal >> _lowerThresh[i];
}
for(int i = 0; i < 3; i++)
{
_thresholdVal >> _upperThresh[i];
}
}
else
{
Buoy::Buoy(std::string name) : _it(_n), _s(_n, name, boost::bind(&Buoy::executeCB, this, _1), false), _actionName(name)
{
_sub = _it.subscribe(topics::CAMERA_FRONT_RAW_IMAGE, 1, &Buoy::imageCallBack, this);
_pub = _it.advertise(topics::CAMERA_FRONT_BUOY_IMAGE, 1);
_buoy_coord_pub = _nh.advertise<kraken_msgs::positionData>("/kraken/buoy/coordinates/", 1);
max = 0;
ifstream _thresholdVal("threshold.th");
if(_thresholdVal.is_open())
{
for(int i = 0; i < 3; i++)
{
_thresholdVal >> _lowerThreshYellow[i];
}
for(int i = 0; i < 3; i++)
{
_thresholdVal >> _upperThreshYellow[i];
}
// for(int i = 0; i < 3; i++)
// {
// _thresholdVal >> _lowerThreshRed2[i];
// }
// for(int i = 0; i < 3; i++)
// {
// _thresholdVal >> _upperThreshRed2[i];
// }
/*for(int i = 0; i < 3; i++)
{
_thresholdVal >> _lowerThreshGreen[i];
}
for(int i = 0; i < 3; i++)
{
_thresholdVal >> _upperThreshGreen[i];
}*/
}
else
{