Image Processing

A GUI ROS-package for cropping pcl pointcloud with dynamic reconfigure

This ROS package enables you to crop the scene from Kinect (input topic type: PCL pointcloud). You can even enable fitting a plane to remove the ground from the scene and by adjusting correct parameter you can get the desired object from the scene. code available on my Github.

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List of OpenCv matrix types and mapping numbers

ref: Special thanks to this post.

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Multi scale face detector using HOG features and support vector machine

In this part, I trained an SVM over images of  “face” or “not face” (36 × 36 pixels), using HOG features. I used VLFeat library for both HOG and the SVM. Example of face images: Example of nonface images: I divided the dataset into a training and a test set (80% and 20% respectively) and computed the HOG

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2D pose estimation of human body using CNS and PCA

This work is the second part of my master thesis (part I). In this part, I developed an algorithm for 2D pose estimation of the human body. To do this, I created a software with QT that could generate 2D contours representing human body. Then I send these contours for evaluation to CNS(Contrast Normalized Sobel) [1]

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Human detection on mobile camera using HOG and tracking them using Kalman filter

This is the part I of the work that I did for my master thesis (part II). In this work first, I computed HOG (Histogram of oriented gradients) on my images and then sent the computed histogram to a linear SVM (support vector machine). The SVM was trained with human and non-human images. The output of the classifier was

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Converting sensor_msgs::PCLPointCloud2 to sensor_msgs::PointCloud and reverse

 

Converting sensor_msgs::PCLPointCloud2 to sensor_msgs::PointCloud and reverse Read More »

Converting pcl::PCLPointCloud2 to pcl::PointCloud and reverse

 

  more about pcl point cloud and conversion

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Stitching image using SIFT and Homography

This Matlab tutorial I use SIFT, RANSAC, and homography to find corresponding points between two images. Here I have used vlfeat to find SIFT features. Full code is available at my GitHub repository Major steps are: 0.Adding vlfeat to your Matlab workspace:

  1.Detect key points and extract descriptors. In the image below you can see some SIFT key

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