int main( int argc, char* argv[] )
{
// load an image
IplImage* image = cvLoadImage("motor.jpg");
///-- extract global image descriptors --
// create a Frame object (see include/Frame.h)
// allocate memory for 3-channel color and 1-channel gray image and mask
Frame* frame = new Frame( image->width, image->height, true, true, true);
// set the image of the frame
frame->setImage(image);
// compute Color Structure descriptor
XM::ColorStructureDescriptor* csd = Feature::getColorStructureD(frame, 32);
// write to screen
for(unsigned int i = 0; i < csd->GetSize(); i++)
std::cout << (int)csd->GetElement(i) << " " ;
std::cout << std::endl;
// release descriptor
delete csd;
// release the images..
delete frame;
cvReleaseImage(&image);
return 0;
}
void LocalColorFeat::localColorCb(
const visor::detEntityArray::ConstPtr& msg
){
cv_bridge::CvImagePtr cv_ptr;
lcolor_.object_color.clear();
lcolor_.header.stamp = msg->header.stamp;
lcolor_.object_count = msg->count;
cinfo_.header.stamp = msg->header.stamp;
cinfo_.size = 64; //msg->count;
for (int i=0; i<msg->count; i++) {
try {
cv_ptr = cv_bridge::toCvCopy(msg->entity[i], sensor_msgs::image_encodings::BGR8);
// ROS_WARN("OBJECT %d: ", i);
Frame* frame = new Frame( cv_ptr->image );
XM::ColorStructureDescriptor* csd = Feature::getColorStructureD(frame, cinfo_.size);
cinfo_.desc.clear();
for(int i = 0; i < csd->GetSize(); i++) {
// std::cout << (int)csd->GetElement(i) << " ";
// Assign each element to cinfo_.desc
cinfo_.desc.push_back((int)csd->GetElement(i));
}
// std::cout << std::endl;
delete csd;
lcolor_.object_color.push_back(cinfo_);
} catch (cv_bridge::Exception& e) {
ROS_ERROR("LOCAL COLOR <- cv_bridge exception: %s", e.what());
return;
}
}
pub_.publish(lcolor_);
}
Descriptor ColorStructure::extract_(MyImage *image,
bool makeVisRep,
Magick::Image *repr){
cv::Mat &img = *image->getOpenCVMat();
Frame* frame = new Frame(img);
XM::ColorStructureDescriptor *ehd = Mpeg7Feature::getColorStructureD(frame, 64);
Descriptor desc;
for(size_t i = 0; i < ehd->GetSize(); ++i)
desc.push_back((float) ehd->GetElement(i));
return desc;
}
// Color Structure
void FexWrite::computeWriteCSD( Frame* frame, int descSize )
{
if(!frame)
return;
// compute the descriptor
XM::ColorStructureDescriptor* csd = Feature::getColorStructureD(frame, descSize);
// write to screen
for(unsigned int i = 0; i < csd->GetSize(); i++)
std::cout << (int)csd->GetElement(i) << " " ;
std::cout << std::endl;
// release descriptor
delete csd;
}
