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;
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));