Functions | Variables
featureTracking.cpp File Reference
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <ros/ros.h>
#include "cameraParameters.h"
#include "pointDefinition.h"
Include dependency graph for featureTracking.cpp:

Go to the source code of this file.

Functions

void imageDataHandler (const sensor_msgs::Image::ConstPtr &imageData)
pcl::PointCloud< ImagePoint >::Ptr imagePointsCur (new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< ImagePoint >::Ptr imagePointsLast (new pcl::PointCloud< ImagePoint >())
int main (int argc, char **argv)

Variables

cv_bridge::CvImage bridge
CvPoint2D32f * featuresCur = new CvPoint2D32f[2 * MAXFEATURENUM]
float featuresError [2 *MAXFEATURENUM]
char featuresFound [2 *MAXFEATURENUM]
int featuresInd [2 *MAXFEATURENUM] = {0}
int featuresIndFromStart = 0
CvPoint2D32f * featuresLast = new CvPoint2D32f[2 * MAXFEATURENUM]
IplImage * harrisLast = cvCreateImage(showSize, IPL_DEPTH_32F, 1)
IplImage * imageCur = cvCreateImage(imgSize, IPL_DEPTH_8U, 1)
IplImage * imageEig
IplImage * imageLast = cvCreateImage(imgSize, IPL_DEPTH_8U, 1)
const int imagePixelNum = imageHeight * imageWidth
ros::PublisherimagePointsLastPubPointer
IplImage * imageShow = cvCreateImage(showSize, IPL_DEPTH_8U, 1)
ros::PublisherimageShowPubPointer
IplImage * imageTmp
CvSize imgSize = cvSize(imageWidth, imageHeight)
CvMat kMat = cvMat(3, 3, CV_64FC1, kImage)
const int MAXFEATURENUM = maxFeatureNumPerSubregion * totalSubregionNum
const int maxFeatureNumPerSubregion = 2
const double maxTrackDis = 100
IplImage * pyrCur
IplImage * pyrLast
int showCount = 0
const int showDSRate = 2
CvSize showSize = cvSize(imageWidth / showDSRate, imageHeight / showDSRate)
const int showSkipNum = 2
int subregionFeatureNum [2 *totalSubregionNum] = {0}
const double subregionHeight = (double)(imageHeight - 2 * yBoundary) / (double)ySubregionNum
const double subregionWidth = (double)(imageWidth - 2 * xBoundary) / (double)xSubregionNum
bool systemInited = false
double timeCur
double timeLast
int totalFeatureNum = 0
const int totalSubregionNum = xSubregionNum * ySubregionNum
const int winSize = 15
const int xBoundary = 20
const int xSubregionNum = 12
const int yBoundary = 20
const int ySubregionNum = 8

Function Documentation

void imageDataHandler ( const sensor_msgs::Image::ConstPtr &  imageData)

Definition at line 65 of file featureTracking.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 208 of file featureTracking.cpp.


Variable Documentation

Definition at line 63 of file featureTracking.cpp.

CvPoint2D32f* featuresCur = new CvPoint2D32f[2 * MAXFEATURENUM]

Definition at line 47 of file featureTracking.cpp.

Definition at line 50 of file featureTracking.cpp.

Definition at line 49 of file featureTracking.cpp.

int featuresInd[2 *MAXFEATURENUM] = {0}

Definition at line 53 of file featureTracking.cpp.

Definition at line 52 of file featureTracking.cpp.

CvPoint2D32f* featuresLast = new CvPoint2D32f[2 * MAXFEATURENUM]

Definition at line 48 of file featureTracking.cpp.

IplImage* harrisLast = cvCreateImage(showSize, IPL_DEPTH_32F, 1)

Definition at line 27 of file featureTracking.cpp.

IplImage* imageCur = cvCreateImage(imgSize, IPL_DEPTH_8U, 1)

Definition at line 18 of file featureTracking.cpp.

IplImage* imageEig

Definition at line 45 of file featureTracking.cpp.

IplImage* imageLast = cvCreateImage(imgSize, IPL_DEPTH_8U, 1)

Definition at line 19 of file featureTracking.cpp.

Definition at line 15 of file featureTracking.cpp.

Definition at line 61 of file featureTracking.cpp.

IplImage* imageShow = cvCreateImage(showSize, IPL_DEPTH_8U, 1)

Definition at line 26 of file featureTracking.cpp.

Definition at line 62 of file featureTracking.cpp.

IplImage * imageTmp

Definition at line 45 of file featureTracking.cpp.

CvSize imgSize = cvSize(imageWidth, imageHeight)

Definition at line 16 of file featureTracking.cpp.

CvMat kMat = cvMat(3, 3, CV_64FC1, kImage)

Definition at line 29 of file featureTracking.cpp.

Definition at line 35 of file featureTracking.cpp.

Definition at line 31 of file featureTracking.cpp.

const double maxTrackDis = 100

Definition at line 42 of file featureTracking.cpp.

IplImage * pyrCur

Definition at line 45 of file featureTracking.cpp.

IplImage * pyrLast

Definition at line 45 of file featureTracking.cpp.

int showCount = 0

Definition at line 21 of file featureTracking.cpp.

const int showDSRate = 2

Definition at line 23 of file featureTracking.cpp.

Definition at line 24 of file featureTracking.cpp.

const int showSkipNum = 2

Definition at line 22 of file featureTracking.cpp.

Definition at line 56 of file featureTracking.cpp.

const double subregionHeight = (double)(imageHeight - 2 * yBoundary) / (double)ySubregionNum

Definition at line 40 of file featureTracking.cpp.

const double subregionWidth = (double)(imageWidth - 2 * xBoundary) / (double)xSubregionNum

Definition at line 39 of file featureTracking.cpp.

bool systemInited = false

Definition at line 12 of file featureTracking.cpp.

double timeCur

Definition at line 13 of file featureTracking.cpp.

double timeLast

Definition at line 13 of file featureTracking.cpp.

int totalFeatureNum = 0

Definition at line 55 of file featureTracking.cpp.

Definition at line 34 of file featureTracking.cpp.

const int winSize = 15

Definition at line 43 of file featureTracking.cpp.

const int xBoundary = 20

Definition at line 37 of file featureTracking.cpp.

const int xSubregionNum = 12

Definition at line 32 of file featureTracking.cpp.

const int yBoundary = 20

Definition at line 38 of file featureTracking.cpp.

const int ySubregionNum = 8

Definition at line 33 of file featureTracking.cpp.



demo_rgbd
Author(s): Ji Zhang
autogenerated on Mon Mar 2 2015 12:20:33