Inheritance diagram for find_contours::FindContoursNodelet:

Public Member Functions
virtual void	onInit ()
	Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method.
Private Types
typedef find_contours::FindContoursConfig	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
image_transport::CameraSubscriber	cam_sub_
Config	config_
bool	debug_view_
image_transport::Publisher	img_pub_
image_transport::Subscriber	img_sub_
boost::shared_ptr < image_transport::ImageTransport >	it_
int	low_threshold_
ros::Publisher	msg_pub_
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 59 of file find_contours_nodelet.cpp.

Member Typedef Documentation

typedef find_contours::FindContoursConfig find_contours::FindContoursNodelet::Config [private]

Definition at line 68 of file find_contours_nodelet.cpp.

Definition at line 69 of file find_contours_nodelet.cpp.

void find_contours::FindContoursNodelet::do_work	(	const sensor_msgs::ImageConstPtr &	msg,
		const std::string	input_frame_from_msg
	)		`[inline, private]`

Convert it to gray

Create window

Reduce noise with a kernel 3x3

Canny detector

Find contours

Draw contours

Create a Trackbar for user to enter threshold

Definition at line 109 of file find_contours_nodelet.cpp.

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

Definition at line 87 of file find_contours_nodelet.cpp.

void find_contours::FindContoursNodelet::imageCallback ( const sensor_msgs::ImageConstPtr & msg ) [inline, private]

Definition at line 99 of file find_contours_nodelet.cpp.

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