C++ (Cpp) attach_ShareMemの例

コード例 #1

ファイル: lane_detector.cpp プロジェクト: Keerecles/Autoware

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;
}

コード例 #2

ファイル: lane_detector.cpp プロジェクト: 794523332/Autoware

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;
}