Inheritance diagram for opencv_apps::ContourMomentsNodelet:

[legend]

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::ContourMomentsConfig	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
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_

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 100 of file contour_moments_nodelet.cpp.

Member Typedef Documentation

◆ Config

typedef opencv_apps::ContourMomentsConfig opencv_apps::ContourMomentsNodelet::Config

private

Definition at line 109 of file contour_moments_nodelet.cpp.

◆ ReconfigureServer

typedef dynamic_reconfigure::Server<Config> opencv_apps::ContourMomentsNodelet::ReconfigureServer

private

Definition at line 110 of file contour_moments_nodelet.cpp.

Member Function Documentation

◆ doWork()

void opencv_apps::ContourMomentsNodelet::doWork	(	const sensor_msgs::ImageConstPtr &	msg,
		const std::string &	input_frame_from_msg
	)

inlineprivate

Convert image to gray and blur it

Create window

Detect edges using canny

Find contours

Draw contours

Draw moment on drawing only when img_pub_ have subscribers

Calculate the area with the moments 00 and compare with the result of the OpenCV function

Get the moments

Get the mass centers:

Definition at line 151 of file contour_moments_nodelet.cpp.

◆ frameWithDefault()

const std::string& opencv_apps::ContourMomentsNodelet::frameWithDefault	(	const std::string &	frame,
		const std::string &	image_frame
	)

inlineprivate

Definition at line 129 of file contour_moments_nodelet.cpp.

◆ imageCallback()

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

inlineprivate

Definition at line 141 of file contour_moments_nodelet.cpp.

◆ imageCallbackWithInfo()

void opencv_apps::ContourMomentsNodelet::imageCallbackWithInfo	(	const sensor_msgs::ImageConstPtr &	msg,
		const sensor_msgs::CameraInfoConstPtr &	cam_info
	)