I have no problems creating my DLL and sending images back & forth between LabVIEW and OpenCV DLL's.
Here is the code I am working with.
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2\highgui\highgui.hpp>
using namespace std;
using namespace cv;
// extern C
extern "C" {
_declspec (dllexport) int MyHistCalc(unsigned char *imageIN, int rows, int cols, double threshold1, double threshold2, int kernel_size, unsigned char *imageOUT, unsigned char *HistCalcImageOUT);
}
_declspec (dllexport) int MyHistCalc(unsigned char *imageIN,
int rows,
int cols,
double threshold1,
double threshold2,
int kernel_size,
unsigned char *imageOUT,
unsigned char *HistCalcImageOUT) ...
I am unsure if my problem is catching image_histcalcoutput incorrectly in LabVIEW or returning result correctly.
Please find screenshot of my VI attached.
Related
first, thanks for reading.
now i am trying to do remove floor in the point cloud data,
this is a code that i wrote to remove the floor point cloud.
#include <iostream>
#include <cmath>
#include <vector>
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pointcloud/point_types.h>
#include <pcl/common/common.h>
#include <pcl/common/centroid.h>
#include <pcl/common/transforms.h>
#include <pcl/console/parse.h>
#include <set>
#include <pcl/io/pcd_io.h>
#include <boost/format.hpp>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/passthrough.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/segmentation/sac_segmentation.h>
struct VelodynePointXYZIRT
{
PCL_ADD_POINT4D
PCL_ADD_INTENSITY;
uint16_t ring;
float time;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;
POINT_CLOUD_REGISTER_POINT_STRUCT (VelodynePointXYZIRT,
(float, x, x) (float, y, y) (float, z, z) (float, intensity, intensity)
(uint16_t, ring, ring) (float, time, time)
)
ros::Publisher pub1;
using PointXYZIRT = VelodynePointXYZIRT;
void help (const sensor_msgs::PointCloud2ConstPtr& scan)
{
// Convert the sensor_msgs/PointCloud2 data to pcl/PointCloud
pcl::PointCloud<VelodynePointXYZIRT>::Ptr cloud(new pcl::PointCloud<VelodynePointXYZIRT>());
pcl::fromROSMsg (*scan, *cloud);
pcl::ModelCoefficients coefficients;
pcl::PointIndices inliers;
// Create the segmentation object
pcl::SACSegmentation< pcl::PointCloud<PointXYZIRT>> seg;
// Optional
seg.setOptimizeCoefficients (true);
// Mandatory
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setDistanceThreshold (0.01);
seg.setInputCloud (cloud.makeShared ());
seg.segment (inliers, coefficients);
// Publish the model coefficients
pcl_msgs::ModelCoefficients ros_coefficients;
pcl_conversions::fromPCL(coefficients, ros_coefficients);
pub1.publish (ros_coefficients);
}
int main (int argc, char** argv)
{
// Initialize ROS
ros::init (argc, argv, "my_pcl_tutorial");
ros::NodeHandle nh;
// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = nh.subscribe ("input", 1, help);
// Create a ROS publisher for the output point cloud
//#pub1 = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);
pub1 = nh.advertise<pcl_msgs::ModelCoefficients> ("output", 1);
// Spin
ros::spin ();
}
as i have to put the ring data in the code, so i made the struct for defining the velodyne lidar,
but when i catkin_make in the ros,
this error comes,
error: ‘pcl::PointCloud<VelodynePointXYZIRT>::Ptr {aka class boost::shared_ptr<pcl::PointCloud<VelodynePointXYZIRT> >}’ has no member named ‘makeShared’
seg.setInputCloud (cloud.makeShared ());
is there a method that i visualize the data?
my reference for making the code is this site,https://adioshun.gitbooks.io/pcl-tutorial/content/part-1/part01-chapter05/part01-chapter05-practice.html
and my previous code to transform the lidar data, i used these code to make my own.....
#include <iostream>
#include <cmath>
#include <vector>
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <velodyne_pointcloud/point_types.h>
#include <pcl/common/common.h>
#include <pcl/common/centroid.h>
#include <pcl/common/transforms.h>
#include <pcl/console/parse.h>
#include <set>
#include <pcl/io/pcd_io.h>
#include <boost/format.hpp>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/passthrough.h>
#define PI 3.14159265359
using namespace std;
struct VelodynePointXYZIRT
{
PCL_ADD_POINT4D
PCL_ADD_INTENSITY;
uint16_t ring;
float time;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;
POINT_CLOUD_REGISTER_POINT_STRUCT (VelodynePointXYZIRT,
(float, x, x) (float, y, y) (float, z, z) (float, intensity, intensity)
(uint16_t, ring, ring) (float, time, time)
)
ros::Publisher pub1;
float theta_r = 45* M_PI/ 180; // 라디안 각도로 회전 (180도 회전)
using PointXYZIRT = VelodynePointXYZIRT;
void input(const sensor_msgs::PointCloud2ConstPtr& scan)
{
// Msg to pointcloud
pcl::PointCloud<VelodynePointXYZIRT>::Ptr cloud(new pcl::PointCloud<VelodynePointXYZIRT>());
pcl::fromROSMsg(*scan,*cloud); // ros msg 에서 pcl cloud 데이터로 변환
//회전변환행렬
Eigen::Matrix4f transform_1 = Eigen::Matrix4f::Identity();
// Define a rotation matrix (see https://en.wikipedia.org/wiki/Rotation_matrix)
transform_1 (0,0) = std::cos (theta_r);
transform_1 (0,2) = std::sin(theta_r);
transform_1 (2,0) = -sin (theta_r);
transform_1 (2,2) = std::cos (theta_r);
// (row, column)
// Executing the transformation
pcl::PointCloud<VelodynePointXYZIRT>::Ptr transformed_cloud (new pcl::PointCloud<PointXYZIRT>());
pcl::transformPointCloud (*cloud, *transformed_cloud, transform_1);
pcl::PCLPointCloud2 cloud_p;
pcl::toPCLPointCloud2(*transformed_cloud, cloud_p);
sensor_msgs::PointCloud2 output;
pcl_conversions::fromPCL(cloud_p, output);
output.header.frame_id = "velodyne";
pub1.publish(output);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "input");
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe<sensor_msgs::PointCloud2> ("vlp202", 100, input);
pub1 = nh.advertise<sensor_msgs::PointCloud2> ("vlp203", 100);
ros::spin();
}
//if you have to make your own type of custum point type in the pcl, you can see this one to see how to code it !!
// also the ring data that you have to use is from the lio_sam, image projection.cpp
so for the abstract,
i want to remove floor point cloud data in recorded bag,
so i made some code to remove floor data
The "cloud" object is already a shared pointer. Remove makeShared call:
seg.setInputCloud (cloud.makeShared ());
to
seg.setInputCloud (cloud);
For visualization you could publish over a topic the result as ros message and visualize it with rviz.
I am working on QNX platform, in which I need to get the path of executable which is running.
I have wrote a small peice of code, which is returning always -1:
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <errno.h>
#include <string.h>
extern int errno;
int main( int argc, char** argv )
{
char buf[512] = {0};
const char mypath[100] = "/proc/self/exefile";
errno = 0;
printf("The value readlink:: %d %s\n",readlink(mypath, buf, 512 ), strerror( errno ));
return( 0 );
}
When I ran above code then I get following output:
The value readlink:: -1 No such file or directory
Am I missing anything?
What needs to be done to get my current exe path in QNX?
In QNX /proc/self/exefile is not a symbolic link; It's a regular file.
Try:
#include <fstream>
#include <iostream>
#include <string>
int main(int argc, char **argv) {
std::ifstream file("/proc/self/exefile");
std::string path;
std::getline(file, path);
std::cout << path << "\n";
return 0;
}
I need to add to the shared memory string from arguments (ex. ./a.out abcxyz). I wrote the code, but it don't add string or don't show me string. What is the reason?
int main(int argc, char **argv){
int shmid;
char *buf;
shmid = shmget(KEY, 5, IPC_CREAT | 0600);
buf = (char *)shmat(shmid, NULL, 0);
*buf = argv[1];
printf("\n%c\n", buf);
return 0;
}
You're copying a string, so you can't just use assignment - you need strcpy:
#include <string.h>
...
strcpy(buf, argv[1]);
I am programming with Visual Studio 2012 and the Opencv library, in the 2.4.6 version.
Someone can help me about splitting a BGR image into three images, one for every channel?
I know that there is the split function in OpenCV, but it causes me an unhandled exception, probably because I have a 64 bit processor with the 32 bit library, or probably it's the version of the library, so I want to know how to iterate on the pixel values of a BGR matrix without use split().
Thanks in advance.
If you don't want to use split() then you can read each r,g,b pixel value from your source image and write to destination image and which should be single channel.
#include <stdio.h>
#include <opencv2/opencv.hpp>
#include <iostream>
using namespace cv;
using namespace std;
int main( int argc, const char** argv ){
Mat src = imread("ball.jpg", 1);
Mat r(src.rows,src.cols,CV_8UC1);
Mat g(src.rows,src.cols,CV_8UC1);
Mat b(src.rows,src.cols,CV_8UC1);
for(int i=0;i<src.rows;i++){
for(int j=0;j<src.cols;j++){
Vec3b pixel = src.at<Vec3b>(i, j);
b.at<uchar>(i,j) = pixel[0];
g.at<uchar>(i,j) = pixel[1];
r.at<uchar>(i,j) = pixel[2];
}
}
imshow("src", src);
imshow("r", r);
imshow("g", g);
imshow("b", b);
waitKey(0);
}
Can any one tell what wrong with the below code. I am getting segmentation fault while mouse moving last portion of the image. I am just printing R,G,B value according to the mouse position.
#include <iostream>
#include <stdio.h>
#include <opencv2/opencv.hpp>
using namespace cv;
using namespace std;
Mat image;
char window_name[20]="Pixel Value Demo";
static void onMouse( int event, int x, int y, int f, void* ){
Vec3b pix=image.at<Vec3b>(x,y);
int B=pix.val[0];
int G=pix.val[1];
int R=pix.val[2];
cout<<R<<endl<<G<<endl<<B<<endl;
}
int main( int argc, char** argv )
{
namedWindow( window_name, CV_WINDOW_AUTOSIZE );
image = imread( "src.jpg");
imshow( window_name, image );
setMouseCallback( window_name, onMouse, 0 );
waitKey(0);
return 0;
}
Thanks in advance......
Vec3b pix=image.at<Vec3b>(x,y);
should be :
Vec3b pix=image.at<Vec3b>(y,x); // row,col !!