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find position of object in a bag

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Hi guys, I need to find(estimate) the 3D position of the 'people in the scene' -- (this is in the bag file) with respect to the camera. My code is : (I didn't write it) //ROS #include #include #include #include #include //OpenCV #include #include #include //BG SUBTRACTION #include cv::Ptr pMog; cv::Mat fgMask; void rgbCallback(const sensor_msgs::ImageConstPtr& msg) { cv_bridge::CvImageConstPtr cv_ptr; try { cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8); } catch (cv_bridge::Exception& ex) { ROS_ERROR("cv_bridge exception: %s", ex.what()); exit(-1); } pMog->operator()(cv_ptr->image, fgMask); cv::imshow("RGB", cv_ptr->image); cv::imshow("FgMask", fgMask); cv::waitKey(30); } void depthCallback(const sensor_msgs::ImageConstPtr& msg) { cv_bridge::CvImageConstPtr cv_ptr; try { cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::TYPE_32FC1); } catch (cv_bridge::Exception& ex) { ROS_ERROR("cv_bridge exception: %s", ex.what()); exit(-1); } cv::imshow("DEPTH", cv_ptr->image); cv::waitKey(30); } int main(int argc, char **argv) { ros::init(argc, argv, "kinectgrabber"); pMog = new cv::BackgroundSubtractorMOG(); //MOG Approach ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/camera/rgb/image_color", 1, rgbCallback); //ros::Subscriber depth = // n.subscribe("/camera/depth/image", 1, depthCallback); ros::spin(); return 0; } I have a bag file (it's a short video with two man walking by) and I have to make the code read the bag file print out the 3D position of the people in the scene. Any help is very much appreciated. Thank you in advance.

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