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Devel/noetic/build #44

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Devel/noetic/build #44

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aec2d42
[aerial_robot_perception] delete install of test_data for this data i…
HarukiKozukapenguin Jun 28, 2024
05d4453
[aerial_robot_perception] replace to CV_AA to hcv::LINE_AA to adapt t…
HarukiKozukapenguin Jun 29, 2024
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2 changes: 1 addition & 1 deletion aerial_robot_perception/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ include_directories(
)

# download and install sample data
add_custom_target(install_sample_data ALL COMMAND ${PROJECT_SOURCE_DIR}/scripts/install_test_data.py)
# add_custom_target(install_sample_data ALL COMMAND ${PROJECT_SOURCE_DIR}/scripts/install_test_data.py)


macro(arp_add_nodelet _nodelet_cpp _nodelet_class _single_nodelet_exec_name)
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4 changes: 2 additions & 2 deletions aerial_robot_perception/src/rectangle_detection.cpp
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Expand Up @@ -224,12 +224,12 @@ namespace aerial_robot_perception
cv::line(debug_img, vertices[i], vertices[(i+1)%4], cv::Scalar(255,0,0), 10); //blue
}
cv::Point2f arrow_point = cv::Point2f(50.0 * std::cos(angles[i]), 50.0 * std::sin(angles[i])) + passed_rects[i].center;
cv::arrowedLine(debug_img, passed_rects[i].center, arrow_point, cv::Scalar(0, 0, 0), 3, CV_AA, 0, 0.4);
cv::arrowedLine(debug_img, passed_rects[i].center, arrow_point, cv::Scalar(0, 0, 0), 3, cv::LINE_AA, 0, 0.4);
}
} else {
//no rects
//cv::putText(debug_img, "no rect", cv::Point(0, 0), cv::FONT_HERSHEY_PLAIN, 100, cv::Scalar(0, 0, 0), 3);
cv::putText(debug_img, fail_msg_.c_str(), cv::Point(10, 50), cv::FONT_HERSHEY_SIMPLEX, 1.2, cv::Scalar(0,0,200), 2, CV_AA);
cv::putText(debug_img, fail_msg_.c_str(), cv::Point(10, 50), cv::FONT_HERSHEY_SIMPLEX, 1.2, cv::Scalar(0,0,200), 2, cv::LINE_AA);
}
sensor_msgs::ImagePtr debug_img_msg = cv_bridge::CvImage(msg->header, rgb_img_encoding_, debug_img).toImageMsg();
debug_image_pub_.publish(debug_img_msg);
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