Functions | Variables
featureTracking_ocl.cpp File Reference
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <ros/ros.h>
#include "cameraParameters.h"
#include "opencv2/ocl/ocl.hpp"
#include "pointDefinition.h"
Include dependency graph for featureTracking_ocl.cpp:

Go to the source code of this file.

Functions

static void download (const oclMat &ocl_mat, vector< Point2f > &vec)
static void download (const oclMat &ocl_mat, vector< unsigned char > &vec)
void imageDataHandler (const sensor_msgs::Image::ConstPtr &imageData)
int main (int argc, char *argv[])

Variables

cv_bridge::CvImage bridge
int detectionCount = 0
const int detectionSkipNum = 3
Mat dMat = Mat(4, 1, CV_64FC1, dImage)
vector< Point2f > * featuresCur = new vector<Point2f>()
vector< int > featuresInd
int featuresIndFromStart = 0
vector< Point2f > * featuresLast = new vector<Point2f>()
vector< unsigned char > featuresStatus
vector< Point2f > featuresSub
Mat harrisLast
Mat image0
Mat image1
pcl::PointCloud< ImagePoint >::Ptr imagePointsCur (new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< ImagePoint >::Ptr imagePointsLast (new pcl::PointCloud< ImagePoint >())
ros::PublisherimagePointsLastPubPointer
Mat imageShow
ros::PublisherimageShowPubPointer
bool isOddFrame = true
Mat kMat = Mat(3, 3, CV_64FC1, kImage)
Mat mapx
Mat mapy
const int MAXFEATURENUM = maxFeatureNumPerSubregion * totalSubregionNum
const int maxFeatureNumPerSubregion = 20
const double maxTrackDis = 100
GoodFeaturesToTrackDetector_OCL oclFeatureDetector
oclMat oclHarrisLast
oclMat oclImage0
oclMat oclImage1
oclMat oclImageShow
PyrLKOpticalFlow oclOpticalFlow
int showCount = 0
const int showDSRate = 2
Size showSize = Size(imageWidth / showDSRate, imageHeight / showDSRate)
const int showSkipNum = 2
int subregionFeatureNum [2 *totalSubregionNum] = {0}
const double subregionHeight = (double)(imageHeight - 2 * yBoundary) / (double)ySubregionNum
const double subregionWidth = (double)(imageWidth - 2 * xBoundary) / (double)xSubregionNum
bool systemInited = false
double timeCur
double timeLast
int totalFeatureNum = 0
const int totalSubregionNum = xSubregionNum * ySubregionNum
const int winSize = 21
const int xBoundary = 20
const int xSubregionNum = 6
const int yBoundary = 20
const int ySubregionNum = 4

Function Documentation

static void download ( const oclMat &  ocl_mat,
vector< Point2f > &  vec 
) [static]

Definition at line 72 of file featureTracking_ocl.cpp.

static void download ( const oclMat &  ocl_mat,
vector< unsigned char > &  vec 
) [static]

Definition at line 79 of file featureTracking_ocl.cpp.

void imageDataHandler ( const sensor_msgs::Image::ConstPtr &  imageData)

Definition at line 86 of file featureTracking_ocl.cpp.

int main ( int  argc,
char *  argv[] 
)

Definition at line 259 of file featureTracking_ocl.cpp.


Variable Documentation

Definition at line 70 of file featureTracking_ocl.cpp.

int detectionCount = 0

Definition at line 19 of file featureTracking_ocl.cpp.

const int detectionSkipNum = 3

Definition at line 20 of file featureTracking_ocl.cpp.

Mat dMat = Mat(4, 1, CV_64FC1, dImage)

Definition at line 33 of file featureTracking_ocl.cpp.

vector<Point2f>* featuresCur = new vector<Point2f>()

Definition at line 54 of file featureTracking_ocl.cpp.

vector<int> featuresInd

Definition at line 60 of file featureTracking_ocl.cpp.

Definition at line 59 of file featureTracking_ocl.cpp.

vector<Point2f>* featuresLast = new vector<Point2f>()

Definition at line 55 of file featureTracking_ocl.cpp.

vector<unsigned char> featuresStatus

Definition at line 57 of file featureTracking_ocl.cpp.

vector<Point2f> featuresSub

Definition at line 56 of file featureTracking_ocl.cpp.

Definition at line 29 of file featureTracking_ocl.cpp.

Mat image0

Definition at line 27 of file featureTracking_ocl.cpp.

Mat image1

Definition at line 27 of file featureTracking_ocl.cpp.

Definition at line 68 of file featureTracking_ocl.cpp.

Mat imageShow

Definition at line 29 of file featureTracking_ocl.cpp.

Definition at line 69 of file featureTracking_ocl.cpp.

bool isOddFrame = true

Definition at line 15 of file featureTracking_ocl.cpp.

Mat kMat = Mat(3, 3, CV_64FC1, kImage)

Definition at line 32 of file featureTracking_ocl.cpp.

Mat mapx

Definition at line 35 of file featureTracking_ocl.cpp.

Mat mapy

Definition at line 35 of file featureTracking_ocl.cpp.

Definition at line 41 of file featureTracking_ocl.cpp.

const int maxFeatureNumPerSubregion = 20

Definition at line 37 of file featureTracking_ocl.cpp.

const double maxTrackDis = 100

Definition at line 48 of file featureTracking_ocl.cpp.

GoodFeaturesToTrackDetector_OCL oclFeatureDetector

Definition at line 51 of file featureTracking_ocl.cpp.

oclMat oclHarrisLast

Definition at line 30 of file featureTracking_ocl.cpp.

oclMat oclImage0

Definition at line 28 of file featureTracking_ocl.cpp.

oclMat oclImage1

Definition at line 28 of file featureTracking_ocl.cpp.

oclMat oclImageShow

Definition at line 30 of file featureTracking_ocl.cpp.

PyrLKOpticalFlow oclOpticalFlow

Definition at line 52 of file featureTracking_ocl.cpp.

int showCount = 0

Definition at line 22 of file featureTracking_ocl.cpp.

const int showDSRate = 2

Definition at line 24 of file featureTracking_ocl.cpp.

Definition at line 25 of file featureTracking_ocl.cpp.

const int showSkipNum = 2

Definition at line 23 of file featureTracking_ocl.cpp.

Definition at line 63 of file featureTracking_ocl.cpp.

const double subregionHeight = (double)(imageHeight - 2 * yBoundary) / (double)ySubregionNum

Definition at line 46 of file featureTracking_ocl.cpp.

const double subregionWidth = (double)(imageWidth - 2 * xBoundary) / (double)xSubregionNum

Definition at line 45 of file featureTracking_ocl.cpp.

bool systemInited = false

Definition at line 14 of file featureTracking_ocl.cpp.

double timeCur

Definition at line 17 of file featureTracking_ocl.cpp.

double timeLast

Definition at line 17 of file featureTracking_ocl.cpp.

int totalFeatureNum = 0

Definition at line 62 of file featureTracking_ocl.cpp.

Definition at line 40 of file featureTracking_ocl.cpp.

const int winSize = 21

Definition at line 49 of file featureTracking_ocl.cpp.

const int xBoundary = 20

Definition at line 43 of file featureTracking_ocl.cpp.

const int xSubregionNum = 6

Definition at line 38 of file featureTracking_ocl.cpp.

const int yBoundary = 20

Definition at line 44 of file featureTracking_ocl.cpp.

const int ySubregionNum = 4

Definition at line 39 of file featureTracking_ocl.cpp.



demo_lidar
Author(s): Ji Zhang
autogenerated on Sun Oct 5 2014 23:22:43