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featureTrackerNode Class Reference

Manages the optical flow procedure. More...

#include <flow.hpp>

List of all members.

Public Member Functions

void act_on_image ()
void features_loop (const ros::TimerEvent &event)
 featureTrackerNode (ros::NodeHandle &nh, trackerData startupData)
void handle_camera (const sensor_msgs::ImageConstPtr &msg_ptr, const sensor_msgs::CameraInfoConstPtr &info_msg)
void handle_delay ()
void handle_image (const sensor_msgs::ImageConstPtr &msg_ptr)
void handle_info (const sensor_msgs::CameraInfoConstPtr &info_msg)
void handle_very_new ()
void prepareForTermination ()
void process_info (const sensor_msgs::CameraInfoConstPtr &info_msg)
int publish_tracks (ros::Publisher *pub_message)
void serverCallback (thermalvis::flowConfig &config, uint32_t level)
void timed_loop (const ros::TimerEvent &event)

Private Attributes

double averageTrackLength
Mat blownImage
Mat blurredImage
double blurSigma
image_transport::CameraSubscriber camera_sub
trackerData configData
vector< KeyPoint > currPoints [MAX_DETECTORS]
cv_bridge::CvImagePtr cv_ptr
sensor_msgs::CameraInfo debug_camera_info
image_transport::CameraPublisher debug_pub
char debug_pub_name [256]
Ptr< DescriptorExtractor > descriptorExtractor [MAX_DETECTORS]
Mat displayImage
Mat displayImage2
vector< featureTrack > displayTracks [MAX_DETECTORS]
Mat dispMat
int distanceConstraint
ros::Time dodgeTime
Mat drawImage
Mat drawImage2
Mat drawImage_resized
double elapsedTime
dynamic_reconfigure::Server
< thermalvis::flowConfig >
::CallbackType 		f
double factor
ros::Timer features_timer
vector< featureTrack > featureTrackVector
vector< Point2f > finishingPoints [MAX_DETECTORS]
unsigned int frameCount
Mat grayImage
Mat grayImageBuffer [MAXIMUM_FRAMES_TO_STORE]
vector< Point2f > guidingPoints [MAX_DETECTORS]
Mat H12
vector< Point2f > historicalPoints [MAX_DETECTORS]
Mat homogDescriptors [2]
vector< KeyPoint > homogPoints [2]
Ptr< FeatureDetector > homographyDetector
Ptr< DescriptorExtractor > homographyExtractor
image_transport::Subscriber image_sub
ros::Time image_time
ros::Subscriber info_sub
ros::Time info_time
bool infoProcessed
bool infoSent
Scalar keyDrawingColors [MAX_DETECTORS]
Ptr< FeatureDetector > keypointDetector [MAX_DETECTORS]
Size ksize
Mat lastImage
unsigned int lastPeak [MAX_DETECTORS]
vector< unsigned int > lostTrackIndices
Mat mappedImage
Mat mappedImageBuffer [MAXIMUM_FRAMES_TO_STORE]
double minResponse
sensor_msgs::Image msg_debug
Mat newImage
char nodeName [256]
Mat normalizedMat
Mat olderImage
Mat olderImages [MAXIMUM_FRAMES_TO_STORE][2]
ros::Time original_time
int peakTracks
int previouslyTrackedPoints
ros::NodeHandle private_node_handle
image_transport::CameraPublisher pub_debug
unsigned int readyFrame
Mat realImage
vector< Point2f > recoveredPoints [MAX_DETECTORS]
int referenceFrame
dynamic_reconfigure::Server
< thermalvis::flowConfig > 		server
vector< Point2f > startingPoints [MAX_DETECTORS]
Mat subscribedImage
struct timeval cycle_timer test_timer
double testTime
ros::Timer timer
ofstream trackCountStream
Scalar trackDrawingColors [MAX_DETECTORS]
ros::Publisher tracks_pub
char tracks_pub_name [256]
bool undergoingDelay
Mat workingImNew [MAXIMUM_FRAMES_TO_STORE]
Mat workingImOld [MAXIMUM_FRAMES_TO_STORE]

Detailed Description

Manages the optical flow procedure.

Definition at line 92 of file flow.hpp.

Constructor & Destructor Documentation

featureTrackerNode::featureTrackerNode ( ros::NodeHandle &  nh,
trackerData  startupData 
)

Definition at line 1225 of file flow.cpp.

Member Function Documentation

void featureTrackerNode::act_on_image (  ) 

Definition at line 405 of file flow.cpp.

void featureTrackerNode::features_loop ( const ros::TimerEvent &  event  ) 

Definition at line 527 of file flow.cpp.

void featureTrackerNode::handle_camera ( const sensor_msgs::ImageConstPtr &  msg_ptr,
const sensor_msgs::CameraInfoConstPtr &  info_msg 
)

Definition at line 259 of file flow.cpp.

void featureTrackerNode::handle_delay (  ) 

Definition at line 1178 of file flow.cpp.

void featureTrackerNode::handle_image ( const sensor_msgs::ImageConstPtr &  msg_ptr  ) 

Definition at line 383 of file flow.cpp.

void featureTrackerNode::handle_info ( const sensor_msgs::CameraInfoConstPtr &  info_msg  ) 

Definition at line 358 of file flow.cpp.

void featureTrackerNode::handle_very_new (  ) 

Definition at line 1064 of file flow.cpp.

void featureTrackerNode::prepareForTermination (  ) 

Definition at line 1060 of file flow.cpp.

void featureTrackerNode::process_info ( const sensor_msgs::CameraInfoConstPtr &  info_msg  ) 

Definition at line 276 of file flow.cpp.

int featureTrackerNode::publish_tracks ( ros::Publisher *  pub_message  ) 

Definition at line 188 of file flow.cpp.

void featureTrackerNode::serverCallback ( thermalvis::flowConfig &  config,
uint32_t  level 
)

Definition at line 1340 of file flow.cpp.

void featureTrackerNode::timed_loop ( const ros::TimerEvent &  event  ) 

Definition at line 1334 of file flow.cpp.

Member Data Documentation

double featureTrackerNode::averageTrackLength [private]

Definition at line 197 of file flow.hpp.

Mat featureTrackerNode::blownImage [private]

Definition at line 134 of file flow.hpp.

Mat featureTrackerNode::blurredImage [private]

Definition at line 168 of file flow.hpp.

double featureTrackerNode::blurSigma [private]

Definition at line 100 of file flow.hpp.

image_transport::CameraSubscriber featureTrackerNode::camera_sub [private]

Definition at line 126 of file flow.hpp.

trackerData featureTrackerNode::configData [private]

Definition at line 117 of file flow.hpp.

vector<KeyPoint> featureTrackerNode::currPoints[MAX_DETECTORS] [private]

Definition at line 170 of file flow.hpp.

cv_bridge::CvImagePtr featureTrackerNode::cv_ptr [private]

Definition at line 132 of file flow.hpp.

sensor_msgs::CameraInfo featureTrackerNode::debug_camera_info [private]

Definition at line 119 of file flow.hpp.

image_transport::CameraPublisher featureTrackerNode::debug_pub [private]

Definition at line 124 of file flow.hpp.

char featureTrackerNode::debug_pub_name[256] [private]

Definition at line 158 of file flow.hpp.

Ptr<DescriptorExtractor> featureTrackerNode::descriptorExtractor[MAX_DETECTORS] [private]

Definition at line 179 of file flow.hpp.

Mat featureTrackerNode::displayImage [private]

Definition at line 164 of file flow.hpp.

Mat featureTrackerNode::displayImage2 [private]

Definition at line 134 of file flow.hpp.

vector<featureTrack> featureTrackerNode::displayTracks[MAX_DETECTORS] [private]

Definition at line 173 of file flow.hpp.

Mat featureTrackerNode::dispMat [private]

Definition at line 107 of file flow.hpp.

int featureTrackerNode::distanceConstraint [private]

Definition at line 185 of file flow.hpp.

ros::Time featureTrackerNode::dodgeTime [private]

Definition at line 183 of file flow.hpp.

Mat featureTrackerNode::drawImage [private]

Definition at line 164 of file flow.hpp.

Mat featureTrackerNode::drawImage2 [private]

Definition at line 134 of file flow.hpp.

Mat featureTrackerNode::drawImage_resized [private]

Definition at line 164 of file flow.hpp.

double featureTrackerNode::elapsedTime [private]

Definition at line 148 of file flow.hpp.

dynamic_reconfigure::Server<thermalvis::flowConfig>::CallbackType featureTrackerNode::f [private]

Definition at line 195 of file flow.hpp.

double featureTrackerNode::factor [private]

Definition at line 113 of file flow.hpp.

ros::Timer featureTrackerNode::features_timer [private]

Definition at line 115 of file flow.hpp.

vector<featureTrack> featureTrackerNode::featureTrackVector [private]

Definition at line 189 of file flow.hpp.

vector<Point2f> featureTrackerNode::finishingPoints[MAX_DETECTORS] [private]

Definition at line 171 of file flow.hpp.

unsigned int featureTrackerNode::frameCount [private]

Definition at line 150 of file flow.hpp.

Mat featureTrackerNode::grayImage [private]

Definition at line 135 of file flow.hpp.

Mat featureTrackerNode::grayImageBuffer[MAXIMUM_FRAMES_TO_STORE] [private]

Definition at line 166 of file flow.hpp.

vector<Point2f> featureTrackerNode::guidingPoints[MAX_DETECTORS] [private]

Definition at line 171 of file flow.hpp.

Mat featureTrackerNode::H12 [private]

Definition at line 111 of file flow.hpp.

vector<Point2f> featureTrackerNode::historicalPoints[MAX_DETECTORS] [private]

Definition at line 172 of file flow.hpp.

Mat featureTrackerNode::homogDescriptors[2] [private]

Definition at line 181 of file flow.hpp.

vector<KeyPoint> featureTrackerNode::homogPoints[2] [private]

Definition at line 178 of file flow.hpp.

Ptr<FeatureDetector> featureTrackerNode::homographyDetector [private]

Definition at line 176 of file flow.hpp.

Ptr<DescriptorExtractor> featureTrackerNode::homographyExtractor [private]

Definition at line 180 of file flow.hpp.

image_transport::Subscriber featureTrackerNode::image_sub [private]

Definition at line 128 of file flow.hpp.

ros::Time featureTrackerNode::image_time [private]

Definition at line 183 of file flow.hpp.

ros::Subscriber featureTrackerNode::info_sub [private]

Definition at line 127 of file flow.hpp.

ros::Time featureTrackerNode::info_time [private]

Definition at line 183 of file flow.hpp.

bool featureTrackerNode::infoProcessed [private]

Definition at line 109 of file flow.hpp.

bool featureTrackerNode::infoSent [private]

Definition at line 109 of file flow.hpp.

Scalar featureTrackerNode::keyDrawingColors[MAX_DETECTORS] [private]

Definition at line 95 of file flow.hpp.

Ptr<FeatureDetector> featureTrackerNode::keypointDetector[MAX_DETECTORS] [private]

Definition at line 175 of file flow.hpp.

Size featureTrackerNode::ksize [private]

Definition at line 99 of file flow.hpp.

Mat featureTrackerNode::lastImage [private]

Definition at line 135 of file flow.hpp.

unsigned int featureTrackerNode::lastPeak[MAX_DETECTORS] [private]

Definition at line 121 of file flow.hpp.

vector<unsigned int> featureTrackerNode::lostTrackIndices [private]

Definition at line 102 of file flow.hpp.

Mat featureTrackerNode::mappedImage [private]

Definition at line 135 of file flow.hpp.

Mat featureTrackerNode::mappedImageBuffer[MAXIMUM_FRAMES_TO_STORE] [private]

Definition at line 166 of file flow.hpp.

double featureTrackerNode::minResponse [private]

Definition at line 113 of file flow.hpp.

sensor_msgs::Image featureTrackerNode::msg_debug [private]

Definition at line 156 of file flow.hpp.

Mat featureTrackerNode::newImage [private]

Definition at line 135 of file flow.hpp.

char featureTrackerNode::nodeName[256] [private]

Definition at line 162 of file flow.hpp.

Mat featureTrackerNode::normalizedMat [private]

Definition at line 134 of file flow.hpp.

Mat featureTrackerNode::olderImage [private]

Definition at line 135 of file flow.hpp.

Mat featureTrackerNode::olderImages[MAXIMUM_FRAMES_TO_STORE][2] [private]

Definition at line 191 of file flow.hpp.

ros::Time featureTrackerNode::original_time [private]

Definition at line 183 of file flow.hpp.

int featureTrackerNode::peakTracks [private]

Definition at line 187 of file flow.hpp.

int featureTrackerNode::previouslyTrackedPoints [private]

Definition at line 130 of file flow.hpp.

ros::NodeHandle featureTrackerNode::private_node_handle [private]

Definition at line 160 of file flow.hpp.

image_transport::CameraPublisher featureTrackerNode::pub_debug [private]

Definition at line 155 of file flow.hpp.

unsigned int featureTrackerNode::readyFrame [private]

Definition at line 151 of file flow.hpp.

Mat featureTrackerNode::realImage [private]

Definition at line 135 of file flow.hpp.

vector<Point2f> featureTrackerNode::recoveredPoints[MAX_DETECTORS] [private]

Definition at line 172 of file flow.hpp.

int featureTrackerNode::referenceFrame [private]

Definition at line 103 of file flow.hpp.

dynamic_reconfigure::Server<thermalvis::flowConfig> featureTrackerNode::server [private]

Definition at line 194 of file flow.hpp.

vector<Point2f> featureTrackerNode::startingPoints[MAX_DETECTORS] [private]

Definition at line 171 of file flow.hpp.

Mat featureTrackerNode::subscribedImage [private]

Definition at line 134 of file flow.hpp.

struct timeval cycle_timer featureTrackerNode::test_timer [private]

Definition at line 147 of file flow.hpp.

double featureTrackerNode::testTime [private]

Definition at line 148 of file flow.hpp.

ros::Timer featureTrackerNode::timer [private]

Definition at line 115 of file flow.hpp.

ofstream featureTrackerNode::trackCountStream [private]

Definition at line 97 of file flow.hpp.

Scalar featureTrackerNode::trackDrawingColors[MAX_DETECTORS] [private]

Definition at line 95 of file flow.hpp.

ros::Publisher featureTrackerNode::tracks_pub [private]

Definition at line 123 of file flow.hpp.

char featureTrackerNode::tracks_pub_name[256] [private]

Definition at line 159 of file flow.hpp.

bool featureTrackerNode::undergoingDelay [private]

Definition at line 105 of file flow.hpp.

Mat featureTrackerNode::workingImNew[MAXIMUM_FRAMES_TO_STORE] [private]

Definition at line 192 of file flow.hpp.

Mat featureTrackerNode::workingImOld[MAXIMUM_FRAMES_TO_STORE] [private]

Definition at line 192 of file flow.hpp.

The documentation for this class was generated from the following files:
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thermalvis
Author(s): Stephen Vidas
autogenerated on Tue Mar 5 12:25:47 2013