33 image_transport::ImageTransport
it_;
37 cv_bridge::CvImagePtr
cv_ptr;
69 void imageCb (
const sensor_msgs::ImageConstPtr & msg)
75 cv_ptr = cv_bridge::toCvCopy (msg,
"rgb8");
80 catch (cv_bridge::Exception & e)
82 ROS_ERROR (
"cv_bridge exception: %s", e.what ());
92 Size win; win.width=64; win.height=128;
93 resize(Img, Img, win , 0, 0, INTER_LINEAR);
98 cvtColor (Img, Img, CV_BGR2RGB, 0);
110 outfile.open (
"/home/pedrobatista/workingcopy/lar3/perception/pedestrians/PedestrianDetect/train_10000.csv", fstream::in | fstream::out | fstream::app);
116 if (i != NRFEATURE-1)
119 outfile<<features[i];
126 ROS_INFO (
"Image nr %d\n",
ImgCount++);
135 sensor_msgs::ImagePtr msg_out =
cv_ptr->toImageMsg ();
136 msg_out->encoding =
"rgb8";
137 msg_out->header.frame_id =
"Image_Out";
138 msg_out->header.stamp = ros::Time::now ();
149 int main (
int argc,
char **argv)
151 fstream outfile(
"/home/pedrobatista/workingcopy/lar3/perception/pedestrians/PedestrianDetect/train_10000.csv");
152 ros::init (argc, argv,
"image_converter");
void GetRandParams(int seed, int NrFtrs, FtrVecParams2 &RandParams, Rect region)
vector< DVector > WindowFtrs
void GetChnFtrsOverImagePyramid(Mat Image, CvRect ®ion, vector< float > &features, int nOctUp, Size minSize, int nPerOct, FtrVecParams2 Params, PedRoiVec &PedRect, CvBoost &boost_classifier)
image_transport::Publisher image_pub_
cv_bridge::CvImagePtr cv_ptr
int main(int argc, char **argv)
void imageCb(const sensor_msgs::ImageConstPtr &msg)
image_transport::ImageTransport it_
image_transport::Subscriber image_sub_
vector< FtrParams2 > FtrVecParams2