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. More...

Public Member Functions inherited from opencv_apps::Nodelet
	Nodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

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. More...

void	unsubscribe ()
	This method is called when publisher is unsubscribed by other nodes. Shut down subscribers in this method. More...

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

Additional Inherited Members
Protected Member Functions inherited from opencv_apps::Nodelet
template<class T >
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)
	Advertise a topic and watch the publisher. Publishers which are created by this method. It automatically reads latch boolean parameter from nh and publish topic with appropriate latch parameter. More...

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)
	Advertise an image topic camera info topic and watch the publisher. Publishers which are created by this method. It automatically reads latch boolean parameter from nh and it and publish topic with appropriate latch parameter. More...

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)
	Advertise an image topic and watch the publisher. Publishers which are created by this method. It automatically reads latch boolean parameter from nh and it and publish topic with appropriate latch parameter. More...

virtual void	cameraConnectionBaseCallback ()
	callback function which is called when new subscriber come for camera image publisher or camera info publisher. This function is called from cameraConnectionCallback or cameraInfoConnectionCallback. More...

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come for camera image publisher More...

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come for camera info publisher More...

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come More...

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come for image publisher More...

virtual void	onInitPostProcess ()
	Post processing of initialization of nodelet. You need to call this method in order to use always_subscribe feature. More...

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)
	callback function which is called when walltimer duration run out. More...

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes inherited from opencv_apps::Nodelet
bool	always_subscribe_
	A flag to disable watching mechanism and always subscribe input topics. It can be specified via ~always_subscribe parameter. More...

std::vector< image_transport::CameraPublisher >	camera_publishers_
	List of watching camera publishers. More...

boost::mutex	connection_mutex_
	mutex to call subscribe() and unsubscribe() in critical section. More...

ConnectionStatus	connection_status_
	Status of connection. More...

bool	ever_subscribed_
	A flag to check if the node has been ever subscribed or not. More...

std::vector< image_transport::Publisher >	image_publishers_
	List of watching image publishers. More...

boost::shared_ptr< ros::NodeHandle >	nh_
	Shared pointer to nodehandle. More...

boost::shared_ptr< ros::NodeHandle >	pnh_
	Shared pointer to private nodehandle. More...

std::vector< ros::Publisher >	publishers_
	List of watching publishers. More...

bool	subscribed_
	A flag to check if any publisher is already subscribed or not. More...

ros::WallTimer	timer_
	WallTimer instance for warning about no connection. More...

bool	verbose_connection_
	true if `~verbose_connection` or `verbose_connection` parameter is true. More...

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
	)

inlineprivate

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
	)

inlineprivate

Definition at line 111 of file edge_detection_nodelet.cpp.

void opencv_apps::EdgeDetectionNodelet::imageCallback ( const sensor_msgs::ImageConstPtr & msg )

inlineprivate

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
	)

inlineprivate

Definition at line 118 of file edge_detection_nodelet.cpp.

virtual void opencv_apps::EdgeDetectionNodelet::onInit ( )

inlinevirtual

Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method.

Reimplemented from opencv_apps::Nodelet.

Reimplemented in edge_detection::EdgeDetectionNodelet.

Definition at line 293 of file edge_detection_nodelet.cpp.

void opencv_apps::EdgeDetectionNodelet::reconfigureCallback	(	Config &	new_config,
		uint32_t	level
	)

inlineprivate

Definition at line 97 of file edge_detection_nodelet.cpp.

void opencv_apps::EdgeDetectionNodelet::subscribe ( )

inlineprivatevirtual

This method is called when publisher is subscribed by other nodes. Set up subscribers in this method.

Implements opencv_apps::Nodelet.

Definition at line 276 of file edge_detection_nodelet.cpp.

static void opencv_apps::EdgeDetectionNodelet::trackbarCallback	(	int	,
		void *
	)

inlinestaticprivate

Definition at line 128 of file edge_detection_nodelet.cpp.

void opencv_apps::EdgeDetectionNodelet::unsubscribe ( )

inlineprivatevirtual

This method is called when publisher is unsubscribed by other nodes. Shut down subscribers in this method.

Implements opencv_apps::Nodelet.

Definition at line 285 of file edge_detection_nodelet.cpp.

Member Data Documentation

int opencv_apps::EdgeDetectionNodelet::apertureSize_

private

Definition at line 87 of file edge_detection_nodelet.cpp.

bool opencv_apps::EdgeDetectionNodelet::apply_blur_post_

private

Definition at line 90 of file edge_detection_nodelet.cpp.

bool opencv_apps::EdgeDetectionNodelet::apply_blur_pre_

private

Definition at line 89 of file edge_detection_nodelet.cpp.

image_transport::CameraSubscriber opencv_apps::EdgeDetectionNodelet::cam_sub_

private

Definition at line 71 of file edge_detection_nodelet.cpp.

int opencv_apps::EdgeDetectionNodelet::canny_threshold1_

private

Definition at line 85 of file edge_detection_nodelet.cpp.

int opencv_apps::EdgeDetectionNodelet::canny_threshold2_

private

Definition at line 86 of file edge_detection_nodelet.cpp.

Config opencv_apps::EdgeDetectionNodelet::config_

private

Definition at line 78 of file edge_detection_nodelet.cpp.

bool opencv_apps::EdgeDetectionNodelet::debug_view_

private

Definition at line 82 of file edge_detection_nodelet.cpp.

image_transport::Publisher opencv_apps::EdgeDetectionNodelet::img_pub_

private

Definition at line 69 of file edge_detection_nodelet.cpp.

image_transport::Subscriber opencv_apps::EdgeDetectionNodelet::img_sub_

private

Definition at line 70 of file edge_detection_nodelet.cpp.

boost::shared_ptr<image_transport::ImageTransport> opencv_apps::EdgeDetectionNodelet::it_

private

Definition at line 74 of file edge_detection_nodelet.cpp.

bool opencv_apps::EdgeDetectionNodelet::L2gradient_

private

Definition at line 88 of file edge_detection_nodelet.cpp.

ros::Publisher opencv_apps::EdgeDetectionNodelet::msg_pub_

private

Definition at line 72 of file edge_detection_nodelet.cpp.

bool opencv_apps::EdgeDetectionNodelet::need_config_update_ = false

staticprivate

Definition at line 95 of file edge_detection_nodelet.cpp.

double opencv_apps::EdgeDetectionNodelet::postBlurSigma_

private

Definition at line 92 of file edge_detection_nodelet.cpp.

int opencv_apps::EdgeDetectionNodelet::postBlurSize_

private

Definition at line 91 of file edge_detection_nodelet.cpp.

ros::Time opencv_apps::EdgeDetectionNodelet::prev_stamp_

private

Definition at line 83 of file edge_detection_nodelet.cpp.

int opencv_apps::EdgeDetectionNodelet::queue_size_

private

Definition at line 81 of file edge_detection_nodelet.cpp.

boost::shared_ptr<ReconfigureServer> opencv_apps::EdgeDetectionNodelet::reconfigure_server_

private

Definition at line 79 of file edge_detection_nodelet.cpp.

std::string opencv_apps::EdgeDetectionNodelet::window_name_

private

Definition at line 94 of file edge_detection_nodelet.cpp.

The documentation for this class was generated from the following file:

edge_detection_nodelet.cpp

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation