Inheritance diagram for edge_detection::EdgeDetectionNodelet:

Public Member Functions
virtual void	onInit ()
	Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method.
Private Types
typedef edge_detection::EdgeDetectionConfig	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
Private Member Functions
void	do_work (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_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
std::string	window_name_
Static Private Attributes
static bool	need_config_update_ = false

Detailed Description

Definition at line 66 of file edge_detection_nodelet.cpp.

Member Typedef Documentation

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

Definition at line 75 of file edge_detection_nodelet.cpp.

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

Definition at line 76 of file edge_detection_nodelet.cpp.

Member Function Documentation

void edge_detection::EdgeDetectionNodelet::do_work	(	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 131 of file edge_detection_nodelet.cpp.

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

Definition at line 109 of file edge_detection_nodelet.cpp.

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

Definition at line 121 of file edge_detection_nodelet.cpp.

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