Inheritance diagram for opencv_apps::EdgeDetectionNodelet:

Public Member Functions
virtual void	onInit ()
	Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method.
Private Types
typedef opencv_apps::EdgeDetectionConfig	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
Private Member Functions
void	doWork (const sensor_msgs::ImageConstPtr &msg, const std::string &input_frame_from_msg)
const std::string &	frameWithDefault (const std::string &frame, const std::string &image_frame)
void	imageCallback (const sensor_msgs::ImageConstPtr &msg)
void	imageCallbackWithInfo (const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::CameraInfoConstPtr &cam_info)
void	reconfigureCallback (Config &new_config, uint32_t level)
void	subscribe ()
	This method is called when publisher is subscribed by other nodes. Set up subscribers in this method.
void	unsubscribe ()
	This method is called when publisher is unsubscribed by other nodes. Shut down subscribers in this method.
Static Private Member Functions
static void	trackbarCallback (int, void *)
Private Attributes
int	apertureSize_
bool	apply_blur_post_
bool	apply_blur_pre_
image_transport::CameraSubscriber	cam_sub_
int	canny_threshold1_
int	canny_threshold2_
Config	config_
bool	debug_view_
image_transport::Publisher	img_pub_
image_transport::Subscriber	img_sub_
boost::shared_ptr < image_transport::ImageTransport >	it_
bool	L2gradient_
ros::Publisher	msg_pub_
double	postBlurSigma_
int	postBlurSize_
ros::Time	prev_stamp_
int	queue_size_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
std::string	window_name_
Static Private Attributes
static bool	need_config_update_ = false

Detailed Description

Definition at line 67 of file edge_detection_nodelet.cpp.

Member Typedef Documentation

typedef opencv_apps::EdgeDetectionConfig opencv_apps::EdgeDetectionNodelet::Config [private]

Definition at line 76 of file edge_detection_nodelet.cpp.

typedef dynamic_reconfigure::Server<Config> opencv_apps::EdgeDetectionNodelet::ReconfigureServer [private]

Definition at line 77 of file edge_detection_nodelet.cpp.

Member Function Documentation

void opencv_apps::EdgeDetectionNodelet::doWork	(	const sensor_msgs::ImageConstPtr &	msg,
		const std::string &	input_frame_from_msg
	)		`[inline, private]`

Convert it to gray

Create window

Generate grad_x and grad_y

Gradient X

Gradient Y

Total Gradient (approximate)

Apply Laplace function

Reduce noise with a kernel 3x3

Canny detector

Create a Trackbar for user to enter threshold

Definition at line 133 of file edge_detection_nodelet.cpp.

const std::string& opencv_apps::EdgeDetectionNodelet::frameWithDefault	(	const std::string &	frame,
		const std::string &	image_frame
	)		`[inline, private]`

Definition at line 111 of file edge_detection_nodelet.cpp.

void opencv_apps::EdgeDetectionNodelet::imageCallback ( const sensor_msgs::ImageConstPtr & msg ) [inline, private]

Definition at line 123 of file edge_detection_nodelet.cpp.

void opencv_apps::EdgeDetectionNodelet::imageCallbackWithInfo	(	const sensor_msgs::ImageConstPtr &	msg,
		const sensor_msgs::CameraInfoConstPtr &	cam_info
	)		`[inline, private]`