CMakeLists: Require OpenCV
[ros_wild_thumper.git] / src / path_following.cpp
index 7bbd7efcabf63c1e43174e0ab4a64c5c215d5c6c..c06a084c907cd9ccd957a42b3f00a4aec7bb286d 100644 (file)
@@ -43,7 +43,7 @@ class PathFollower
        PathFollower() : it(nh)
        {
                ros::NodeHandle pnh("~");
-               FileStorage fs(ros::package::getPath("wild_thumper") + "/cfg/transformation_matrix.yml", FileStorage::READ);
+               FileStorage fs(ros::package::getPath("wild_thumper") + "/config/transformation_matrix.yml", FileStorage::READ);
                dynamic_reconfigure::Server<wild_thumper::PathFollowingConfig>::CallbackType f;
 
                fs["transformation_matrix"] >> transformation_matrix;
@@ -78,7 +78,7 @@ class PathFollower
 
        int pathfinder(cv::Mat &frame, float &r, float &phi)
        {
-               cv::vector<cv::Vec2f> lines;
+               std::vector<cv::Vec2f> lines;
                cv::warpPerspective(frame, frame, transformation_matrix, frame.size(), INTER_LINEAR);
                Mat roi(frame, Rect(roi_x, roi_y, roi_width, roi_height));