#include <ellipses_nodelet.h>

Inheritance diagram for tuw::EllipsesDetectionNode:

Classes
struct	ParametersNode

Public Member Functions
	EllipsesDetectionNode ()

void	imageCallback (const sensor_msgs::ImageConstPtr &image_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)

void	init ()

virtual void	onInit ()

	~EllipsesDetectionNode ()

Public Member Functions inherited from tuw::EllipsesDetection
	EllipsesDetection (Parameters *parm)

	~EllipsesDetection ()

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 Member Functions
void	createTransforms (const std_msgs::Header &header)

const ParametersNode *	param ()

void	publishFiducials (const std_msgs::Header &header)

void	publishMarker (const std_msgs::Header &header)

void	publishTf ()

void	update ()

Private Attributes
unsigned long	callback_counter_

sensor_msgs::CameraInfoConstPtr	camera_info_

cv_bridge::CvImagePtr	image_mono_

image_transport::ImageTransport	imageTransport_

std::list< tf::StampedTransform >	markerTransforms_

ros::NodeHandle	n_

ros::Publisher	pub_ellipses_

ros::Publisher	pub_fiducials_

ros::Publisher	pub_perceptions_

image_transport::CameraSubscriber	sub_camera_

boost::posix_time::ptime	timeCallbackReceived_

boost::posix_time::ptime	timeCallbackReceivedLast_

boost::posix_time::ptime	timeDetectionEnd_

boost::posix_time::ptime	timeDetectionStart_

tf::TransformBroadcaster	transformBroadcaster_

Additional Inherited Members
Public Types inherited from tuw::EllipsesDetection
enum	DetectionState { VALID = 0, NA = 1, INVALID_CONTOUR_POINTS, INVALID_CONTOUR_CONVEX, INVALID_ROTATED_RECT_RATIO, INVALID_CONTOUR_MEAN, INVALID_MIN_RAIDUS, INVALID_MAX_RAIDUS, INVALID_NO_RING, INVALID_IS_INNER_RING, INVALID_ELLIPSE }

enum	EdgeDetection { EDGE_DETECTION_THRESHOLD = 0, EDGE_DETECTION_CANNY = 1 }

enum	EdgeLinking { EDGE_LINKING_OPENCV_APPROX_NONE = 0, EDGE_LINKING_OPENCV_APPROX_SIMPLE = 1, EDGE_LINKING_TUW_SIMPLE = 2, EDGE_LINKING_TUW_COMPLEX = 3, EDGE_LINKING_TUW_CONTOUR = 4 }

enum	PoseEstimation { POSE_ESTIMATION_OFF = 0, POSE_ESTIMATION_SOLVEPNP = 1, POSE_ESTIMATION_FROM_ELLIPSE = 2 }

Protected Member Functions inherited from tuw::EllipsesDetection
void	contour_detection ()

void	createEllipseCanditates ()

void	createRings ()

void	draw_ellipses (cv::Mat &m)

void	edge_detection (const cv::Mat &m)

DetectionState	EllipseRedefinement (Ellipse &ellipse)

void	estimatePoses ()

DetectionState	filterContour (Ellipse &ellipse)

DetectionState	filterContourMean (Ellipse &ellipse)

DetectionState	filterEllipse (Ellipse &ellipse)

void	filterShapes ()

void	fit_ellipses_opencv (const cv::Mat &m, const cv::Mat cameraMatrix, const cv::Mat distCoeffs, const cv::Mat projectionMatrix, const boost::posix_time::ptime &tstamp)

void	next ()

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 tuw::EllipsesDetection
tuw::Camera	camera_

tuw::Contour	contour_detector_

std::vector< std::vector< cv::Point > >	contours_

std::vector< Ellipse >	ellipses_

cv::Mat	imgBlured_

cv::Mat	imgDirection_

cv::Mat	imgEdges_

cv::Mat	imgGradient_

cv::Mat	imgGray_

cv::Mat	imgSobelDx_

cv::Mat	imgSobelDy_

cv::Mat_< cv::Point2f >	lookupUndistor_

unsigned long	loop_count

std::list< Marker >	markers_

Parameters *	param_

boost::posix_time::ptime	tstamp_

boost::posix_time::ptime	tstampLast_

Detailed Description

ROS Node.

Definition at line 50 of file ellipses_nodelet.h.

Constructor & Destructor Documentation

EllipsesDetectionNode::EllipsesDetectionNode ( )

Definition at line 45 of file ellipses_nodelet.cpp.

EllipsesDetectionNode::~EllipsesDetectionNode ( )

Definition at line 42 of file ellipses_nodelet.cpp.

Member Function Documentation

void EllipsesDetectionNode::createTransforms ( const std_msgs::Header & header )

private

Definition at line 132 of file ellipses_nodelet.cpp.

void EllipsesDetectionNode::imageCallback	(	const sensor_msgs::ImageConstPtr &	image_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

Definition at line 60 of file ellipses_nodelet.cpp.

void EllipsesDetectionNode::init ( )

Definition at line 54 of file ellipses_nodelet.cpp.

void EllipsesDetectionNode::onInit ( )

virtual

Implements nodelet::Nodelet.

Definition at line 127 of file ellipses_nodelet.cpp.

const EllipsesDetectionNode::ParametersNode * EllipsesDetectionNode::param ( )

private

Definition at line 50 of file ellipses_nodelet.cpp.

void EllipsesDetectionNode::publishFiducials ( const std_msgs::Header & header )

private

Definition at line 202 of file ellipses_nodelet.cpp.

void EllipsesDetectionNode::publishMarker ( const std_msgs::Header & header )

private

Definition at line 166 of file ellipses_nodelet.cpp.

void EllipsesDetectionNode::publishTf ( )

private

Definition at line 159 of file ellipses_nodelet.cpp.

void tuw::EllipsesDetectionNode::update ( )

private

Member Data Documentation

unsigned long tuw::EllipsesDetectionNode::callback_counter_

private

Definition at line 85 of file ellipses_nodelet.h.

sensor_msgs::CameraInfoConstPtr tuw::EllipsesDetectionNode::camera_info_

private

Definition at line 93 of file ellipses_nodelet.h.

cv_bridge::CvImagePtr tuw::EllipsesDetectionNode::image_mono_

private

Definition at line 92 of file ellipses_nodelet.h.

image_transport::ImageTransport tuw::EllipsesDetectionNode::imageTransport_

private

Definition at line 90 of file ellipses_nodelet.h.

std::list<tf::StampedTransform> tuw::EllipsesDetectionNode::markerTransforms_

private

Definition at line 98 of file ellipses_nodelet.h.

ros::NodeHandle tuw::EllipsesDetectionNode::n_

private

Definition at line 84 of file ellipses_nodelet.h.

ros::Publisher tuw::EllipsesDetectionNode::pub_ellipses_

private

Definition at line 87 of file ellipses_nodelet.h.

ros::Publisher tuw::EllipsesDetectionNode::pub_fiducials_

private

Definition at line 89 of file ellipses_nodelet.h.

ros::Publisher tuw::EllipsesDetectionNode::pub_perceptions_

private

Definition at line 88 of file ellipses_nodelet.h.

image_transport::CameraSubscriber tuw::EllipsesDetectionNode::sub_camera_

private

Definition at line 91 of file ellipses_nodelet.h.

boost::posix_time::ptime tuw::EllipsesDetectionNode::timeCallbackReceived_

private

Definition at line 95 of file ellipses_nodelet.h.

boost::posix_time::ptime tuw::EllipsesDetectionNode::timeCallbackReceivedLast_

private

Definition at line 94 of file ellipses_nodelet.h.

boost::posix_time::ptime tuw::EllipsesDetectionNode::timeDetectionEnd_

private

Definition at line 97 of file ellipses_nodelet.h.

boost::posix_time::ptime tuw::EllipsesDetectionNode::timeDetectionStart_

private

Definition at line 96 of file ellipses_nodelet.h.

tf::TransformBroadcaster tuw::EllipsesDetectionNode::transformBroadcaster_

private

Definition at line 86 of file ellipses_nodelet.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation