From 8593bfccc020ded696f6ad04478437abc602e077 Mon Sep 17 00:00:00 2001 From: Ernesto Corbellini Date: Mon, 19 Feb 2018 18:01:05 -0300 Subject: [PATCH] Adapt to new OpenCV version. --- optical_tracker/src/blob_tracker.py | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/optical_tracker/src/blob_tracker.py b/optical_tracker/src/blob_tracker.py index e851b3c..3bd99e3 100755 --- a/optical_tracker/src/blob_tracker.py +++ b/optical_tracker/src/blob_tracker.py @@ -87,7 +87,7 @@ def detect_blob(self, image): if blob is not None: center = (int(blob.pt[0]), int(blob.pt[1])) radius = int(blob.size / 2.0) - cv2.circle(pimage, center, radius, (255, 255, 255), 3) + cv2.circle(pimage, center, radius, (128, 128, 128), 3) im_with_keypoints = pimage cv2.imshow(self.MASK_WINDOW, im_with_keypoints) if blob is None: @@ -113,7 +113,14 @@ def create_detector(self): # Filter by Inertia params.filterByInertia = False params.minInertiaRatio = 0.01 - return cv2.SimpleBlobDetector(params) + ## check opencv version and construct the detector + is_cv3 = cv2.__version__.startswith("3.") + if is_cv3: + detector = cv2.SimpleBlobDetector_create(params) + else: + detector = cv2.SimpleBlobDetecto(params) + + return detector def publish_position(self, x, y, z): self.publisher.publish(Point(x, y, z))