void babl_base_model_gray (void)
{
components ();
models ();
conversions ();
formats ();
}
int
init (void)
{
types ();
components ();
models ();
formats ();
conversions ();
return 0;
}
void
babl_fish_stats (FILE *file)
{
output_file = file;
table_sum_processings_calc ();
fprintf (output_file,
"<?xml version=\"1.0\" encoding=\"utf-8\"?>\n"
"<!DOCTYPE html PUBLIC \"-//W3C//DTD XHTML 1.0 Strict//EN\" \"http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd\">\n"
"<html>\n"
"<head>\n"
"<title>BablFishPath introspection</title>\n"
"<meta http-equiv=\"Content-Type\" content=\"text/html; charset=utf-8\">\n"
"<style type='text/css'>"
" body {"
" font-family: sans;"
" margin-left: 1em;"
" }"
" .cell {"
" overflow : none;"
" height: 1em;"
" font-family: monospace;"
" border: 1px solid #eee;"
" padding: 0;"
" margin : 0;"
"}"
".cell>a {"
" text-decoration: none;"
" color: black;"
" cursor: help;"
"}"
"div.tooltip {"
" border: 0.2em solid black;"
" padding-top: 1em;"
" padding-right: 2em;"
" display: none;"
" padding-left: 2em;"
" padding-bottom: 3em;"
" background-color: white;"
" background-repeat: no-repeat;"
" background-image: url(graphics/babl-48x48.png);"
" background-position: bottom right;"
" color: black;"
"}"
" .cell>a:hover {"
" background-color: black;"
" color: white;"
"}"
" .format_name {"
" height: 1em;"
" background-color: #eee;"
" padding-right: 0.5em;"
" padding-left: 0.5em;"
" border-bottom: 1px solid #fff;"
"}"
" .format_name>a {"
" text-decoration: none;"
" color: blue;"
" cursor: help;"
" }"
" .format_name>a:hover {"
" background-color: blue;"
" color: white;"
" }"
"a:hover>div.tooltip {"
" display: block;"
" position: fixed;"
" bottom: 0;"
" right: 0;"
"}"
"td.component {"
" background-color: #060;"
" padding-left: 0.5em;"
" padding-top: 0.1em;"
" padding-bottom: 0.1em;"
" overflow: hidden;"
" width: 4em;"
" color: white;"
" border: 1px solid white;"
"}"
"td.type {"
" background-color: #006;"
" padding-left: 0.5em;"
" padding-top: 0.1em;"
" padding-bottom: 0.1em;"
" overflow: hidden;"
" width: 4em;"
" color: white;"
" border: 1px solid white;"
"}"
".g {"
" color: gray;"
"}"
".r {"
" text-align: right;"
"}"
"</style>"
"<script type='text/javascript'>"
"var tick_count=0;"
"function o ()"
"{"
" tick_count++;"
" if (tick_count == 11)"
" alert(\"«The mind is it's own place,\\nand in itself can make a heaven of hell;\\na hell of heaven.»\\n--Milton\");"
" else if (tick_count == 42)"
" alert(\"«So long and thanks for all the fish.»\\n--Adams\");"
"}"
"</script>"
"</head>\n");
fprintf (output_file, "<body>\n");
fprintf (output_file, "<h1>BablFishPath introspection</h1>");
fprintf (output_file, "<p>Instrumentation and pathlengths.</p>");
fprintf (output_file, "<table cellspacing='0'><tr><td>Source format</td><td colspan='32'>Destination formats</td></tr>\n");
babl_format_class_for_each (table_source_each, NULL);
fprintf (output_file, "</table>");
fprintf (output_file, "<div style='height:20em'></div>\n");
conversions ();
fprintf (output_file, "</body></html>\n");
}
pcl::PointCloud<briskDepth> depthBrisk(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::PointCloud2ConstPtr &depth)
{
pcl::PointCloud<briskDepth> depthFeatures;
cv::Mat image(conversions(msg));
briskStruct briskObj;
if(msg->encoding != "bgr8" )
{
ROS_ERROR("Unsupported image encoding:");
return depthFeatures; // Return Null image
}
// Check image size big enough
cv::Size s = image.size();
if(s.height < 1)return depthFeatures;
// Convert sensor message
pcl::PointCloud< pcl::PointXYZ > depthPoints;
pcl::fromROSMsg(*depth,depthPoints);
// Assigning stable BRISK constants
int Thresh = 30;
int Octave = 3;
float PatternScales=1.0f;
// Detect the keypoints using traditional BRISK Detector
cv::BRISK briskDetector(Thresh, Octave,PatternScales);
briskDetector.create("Feature2D.BRISK");
briskDetector.detect(image, briskObj.keypoints);
// Extract Features
briskDetector.compute(image, briskObj.keypoints, briskObj.descriptors);
s = briskObj.descriptors.size();
if(s.height < 1)return depthFeatures;
// Start Conversion to 3D
for(int i = 0; i < s.height; i++)
{
int x = round(briskObj.keypoints[i].pt.x);
int y = round(briskObj.keypoints[i].pt.y);
// only permit featrues where range can be extracted
if(!isnan(depthPoints.points[depthPoints.width*y+x].x) && !isnan(depthPoints.points[depthPoints.width*y+x].x) && !isnan(depthPoints.points[depthPoints.width*y+x].x))
{
briskDepth temp;
temp.x = depthPoints.points[depthPoints.width*y+x].x;
temp.y = depthPoints.points[depthPoints.width*y+x].y;
temp.z = depthPoints.points[depthPoints.width*y+x].z;
temp.descriptor = briskObj.descriptors.row(i);
depthFeatures.push_back(temp);
}
}
BVisualiser.visualise(briskObj.keypoints, image);
cv::waitKey(10);
if(count == 0)
{
//brisk_lastKeypoints = brisk_currentKeypoints;
//brisk_lastImg = brisk_currentImg;
brisk_lastKeypoints = briskObj.keypoints;
brisk_lastImg = image;
}
brisk_currentKeypoints = briskObj.keypoints;
brisk_currentImg = image;
count++;
return depthFeatures;
}
