Depth (expressed as sensor_msgs/Image) based segmentation node. More...
#include <pal_vision_segmentation/DepthSegmentConfig.h>
#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <dynamic_reconfigure/server.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <boost/scoped_ptr.hpp>
Go to the source code of this file.
Typedefs | |
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image > | ApproxSync |
Functions | |
void | callback (const sensor_msgs::ImageConstPtr &imMsg, const sensor_msgs::ImageConstPtr &imDepthMsg) |
void | getImage (const sensor_msgs::ImageConstPtr &msg, const std::string &encoding, cv::Mat &img) |
void | getParameters (ros::NodeHandle &nh) |
int | main (int argc, char *argv[]) |
void | publishResult (const sensor_msgs::ImageConstPtr &imgMsg) |
void | reconf_callback (pal_vision_segmentation::DepthSegmentConfig &config, uint32_t level) |
void | start (ros::NodeHandle &nh) |
start start subscribers and topic synchronizer | |
void | stop () |
stop stop subscribers and topic synchronizer | |
Variables | |
int | dilate_iterations |
int | dilate_size |
bool | enabled |
int | erode_iterations |
int | erode_size |
boost::scoped_ptr < message_filters::Subscriber < sensor_msgs::Image > > | imDepthSub |
image_transport::Publisher | img_masked_pub |
cv::Mat | imgDepth |
boost::scoped_ptr < message_filters::Subscriber < sensor_msgs::Image > > | imSub |
cv::Mat | mask |
image_transport::Publisher | mask_pub |
boost::scoped_ptr < message_filters::Synchronizer < ApproxSync > > | synchronizer |
double | threshold |
Depth (expressed as sensor_msgs/Image) based segmentation node.
Definition in file depth_segmentation.cpp.
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> ApproxSync |
Definition at line 80 of file depth_segmentation.cpp.
void callback | ( | const sensor_msgs::ImageConstPtr & | imMsg, |
const sensor_msgs::ImageConstPtr & | imDepthMsg | ||
) |
Definition at line 133 of file depth_segmentation.cpp.
void getImage | ( | const sensor_msgs::ImageConstPtr & | msg, |
const std::string & | encoding, | ||
cv::Mat & | img | ||
) |
Definition at line 86 of file depth_segmentation.cpp.
void getParameters | ( | ros::NodeHandle & | nh | ) |
Definition at line 172 of file depth_segmentation.cpp.
int main | ( | int | argc, |
char * | argv[] | ||
) |
Definition at line 222 of file depth_segmentation.cpp.
void publishResult | ( | const sensor_msgs::ImageConstPtr & | imgMsg | ) |
Definition at line 103 of file depth_segmentation.cpp.
void reconf_callback | ( | pal_vision_segmentation::DepthSegmentConfig & | config, |
uint32_t | level | ||
) |
Definition at line 163 of file depth_segmentation.cpp.
void start | ( | ros::NodeHandle & | nh | ) |
start start subscribers and topic synchronizer
Definition at line 184 of file depth_segmentation.cpp.
void stop | ( | ) |
stop stop subscribers and topic synchronizer
Definition at line 212 of file depth_segmentation.cpp.
Definition at line 67 of file depth_segmentation.cpp.
int dilate_size |
Definition at line 68 of file depth_segmentation.cpp.
bool enabled |
Definition at line 84 of file depth_segmentation.cpp.
int erode_iterations |
Definition at line 69 of file depth_segmentation.cpp.
int erode_size |
Definition at line 70 of file depth_segmentation.cpp.
boost::scoped_ptr< message_filters::Subscriber<sensor_msgs::Image> > imDepthSub |
Definition at line 77 of file depth_segmentation.cpp.
Definition at line 72 of file depth_segmentation.cpp.
cv::Mat imgDepth |
Definition at line 73 of file depth_segmentation.cpp.
boost::scoped_ptr< message_filters::Subscriber<sensor_msgs::Image> > imSub |
Definition at line 76 of file depth_segmentation.cpp.
cv::Mat mask |
Definition at line 74 of file depth_segmentation.cpp.
Definition at line 72 of file depth_segmentation.cpp.
boost::scoped_ptr< message_filters::Synchronizer<ApproxSync> > synchronizer |
Definition at line 82 of file depth_segmentation.cpp.
double threshold |
Definition at line 66 of file depth_segmentation.cpp.