Simple Distance Target Selection

src/damian_package/src/damian_node.cpp

@@ -0,0 +1,55 @@
+#include <rclcpp/rclcpp.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/opencv.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+class DamianNode : public rclcpp::Node {
+public:
+  DamianNode() : Node("damian_node") {
+    RCLCPP_INFO(this->get_logger(), "DamianNode started!");
+    processImage();  // Directly process `image.jpg`
+  }
+
+private:
+  void processImage() {
+    // Load the image
+    cv::Mat image = cv::imread("image.jpg");
+
+    if (image.empty()) {
+      RCLCPP_ERROR(this->get_logger(), "Failed to load image.jpg!");
+      return;
+    }
+
+    RCLCPP_INFO(this->get_logger(), "Processing image.jpg...");
+
+    // Save the original image
+    cv::imwrite("original_image.jpg", image);
+
+    // Apply grayscale conversion
+    cv::Mat processed_image;
+    cv::cvtColor(image, processed_image, cv::COLOR_BGR2GRAY);
+
+    // Save processed image
+    cv::imwrite("processed_image.jpg", processed_image);
+
+    // Display images
+    RCLCPP_INFO(this->get_logger(), "Saving images (GUI disabled)...");
+
+    cv::imwrite("original_image.jpg", image);
+    cv::imwrite("processed_image.jpg", processed_image);
+
+    RCLCPP_INFO(this->get_logger(), "Images saved successfully!");
+
+
+    RCLCPP_INFO(this->get_logger(), "Image processing completed!");
+  }
+};
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<DamianNode>();
+  rclcpp::shutdown();
+  return 0;
+}