27 lines
863 B
C++
27 lines
863 B
C++
#include <iostream>
|
|
#include <vector>
|
|
|
|
#include "opencv2/imgcodecs.hpp"
|
|
#include "opencv2/highgui.hpp"
|
|
#include "opencv2/imgproc.hpp"
|
|
|
|
#include "DynamixelHandler.h"
|
|
#include "Kinematics.h"
|
|
|
|
|
|
// ImageProcessing
|
|
#define thresholdValue 200
|
|
#define maxValue 255
|
|
//ConvertContours
|
|
#define drawingAreaWidthInMm 80.0
|
|
#define drawingAreaHeigthInMm 50.0
|
|
// SendContours
|
|
#define deltaTBetweenSamples 500 //in ms
|
|
#define incrementBetweenSamples 2
|
|
|
|
std::vector<std::vector<cv::Point>> imageProcessing(cv::Mat originalImage);
|
|
|
|
std::vector<std::vector<float>> convertContoursPixel2Mm(std::vector<std::vector<cv::Point>> vContoursInPixel, float theta, float tx, float ty, int imageWidth, int imageHeight);
|
|
|
|
void sendContours(std::vector<std::vector<cv::Point>> vContoursInPixel, std::vector<std::vector<float>> vContoursInMm, DynamixelHandler& dxlHandler, float L1, float L2);
|