demo.cpp

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#include <ros/ros.h>                                                    //Includes all the headers necessary to use the most common public pieces of the ROS system.
#include <image_transport/image_transport.h>    //Use image_transport for publishing and subscribing to images in ROS
#include <cv_bridge/cv_bridge.h>                                //Use cv_bridge to convert between ROS and OpenCV Image formats
#include <sensor_msgs/image_encodings.h>                //Include some useful constants for image encoding. Refer to: http://www.ros.org/doc/api/sensor_msgs/html/namespacesensor__msgs_1_1image__encodings.html for more info.
#include <opencv2/imgproc/imgproc.hpp>                  //Include headers for OpenCV Image processing
#include <opencv2/highgui/highgui.hpp>                  //Include headers for OpenCV GUI handling
#include <vector>
#include <cmath> 
#include <iostream>
#include <signal.h>
#include <Eigen/Dense>

#include "rosbag/bag.h"
#include <rosbag/view.h>
#include <boost/foreach.hpp>
#include <string>
#include <std_msgs/String.h>
#include <std_msgs/Int32.h>
// #include <crpcut.hpp>
   
using namespace Eigen;
using namespace std;
using namespace cv;
int main(void)
{
        rosbag::Bag bag;
    bag.open("test.bag", rosbag::bagmode::Read);

    std::vector<std::string> topics;
    topics.push_back(std::string("chatter"));
    topics.push_back(std::string("numbers"));

    rosbag::View view(bag, rosbag::TopicQuery(topics));

    BOOST_FOREACH(rosbag::MessageInstance const m, view)
    {
        std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
//         if (s != NULL)
//             ASSERT_EQ(s->data, std::string("foo"));

        std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
//         if (i != NULL)
//             ASSERT_EQ(i->data, 42);
    }

    bag.close();
        
        
//      Mat image= imread("/home/morais/Pictures/download.jpg");
//      Mat out;
        
        
        /*
        watershed(image,out);
        imshow("result",out);
        waitKey(0);
        return 0;
        
        
        cvtColor(image,image,CV_RGB2GRAY,CV_8U);
        Mat clone = image(Range(50,image.rows),Range(0,image.cols));
        
        Mat clone_2 = clone.clone();
        
        imshow("Clone",clone);
        imshow("image clone_2",clone);*/
//      cvtColor(image,image,CV_RGB2GRAY,CV_8U);
// //   int threshold=100;
// //   int colour=255;
//      threshold(image,out, 100,255,CV_THRESH_BINARY_INV);
//      imshow("imagem original",image);
//      imshow("imagem ivertida",out);
//      waitKey(0);

//      MatrixXd m = MatrixXd::Random(3,3);
//      cout<<"inicial n"<<endl<<m<<endl;
// //   MatrixXd m_f;
//      
// //   m_f = m ;
//      MatrixXi::Index min_i, min_j;
//      double minOfM = m.minCoeff(&min_i,&min_j);
//      cv::Mat img(240,360,CV_8U,cv::Scalar(0));
//      int lineType = 8;
//      Point rook_points[1][6];
//      rook_points[0][0] = Point( 0, 120 );
//      rook_points[0][1] = Point( 0, 120 );
//      rook_points[0][2] = Point( 1, 239 );
//      rook_points[0][3] = Point( 359, 239 );
//      rook_points[0][4] = Point( 360, 158 );
//      rook_points[0][5] = Point( 218, 121 );
//      rook_points[0][6] = Point( 3*w/4.0, w/8.0 );
//      rook_points[0][7] = Point( 26*w/40.0, w/8.0 );
//      rook_points[0][8] = Point( 26*w/40.0, w/4.0 );
        
//      [0, 120]
//      [0, 120]
//      [1, 239]
// // //        [359, 239]
//      [360, 158]
//      [218, 121]
//      [0, 120]
/*      
        
        const Point* ppt[1] = { rook_points[0] };
        int npt[] = { 6 };
        
        fillPoly( img,
                          ppt,
                   npt,
                   1,
                   Scalar( 255, 255, 255 ),
                          lineType );
        
        imshow("test",img);
        waitKey(0);*/
        
//      Match_dis(i) = minOfM;
//      rowInd = min_i;
//      colInd = min_j;
        
//      R.col(j1).swap(mat1.col(j2));
        
        
//      cout<<"mininmo ="<<minOfM<<" em "<<min_i<<" "<<min_j<<endl;
//      return 1;
}