featureTracking.cpp File Reference

#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <ros/ros.h>
#include "cameraParameters.h"
#include "pointDefinition.h"

Include dependency graph for featureTracking.cpp:

Go to the source code of this file.

Functions
void	imageDataHandler (const sensor_msgs::Image::ConstPtr &imageData)
pcl::PointCloud< ImagePoint >::Ptr	imagePointsCur (new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< ImagePoint >::Ptr	imagePointsLast (new pcl::PointCloud< ImagePoint >())
int	main (int argc, char **argv)
Variables
cv_bridge::CvImage	bridge
CvPoint2D32f *	featuresCur = new CvPoint2D32f[2 * MAXFEATURENUM]
float	featuresError [2 *MAXFEATURENUM]
char	featuresFound [2 *MAXFEATURENUM]
int	featuresInd [2 *MAXFEATURENUM] = {0}
int	featuresIndFromStart = 0
CvPoint2D32f *	featuresLast = new CvPoint2D32f[2 * MAXFEATURENUM]
IplImage *	harrisLast = cvCreateImage(showSize, IPL_DEPTH_32F, 1)
IplImage *	imageCur = cvCreateImage(imgSize, IPL_DEPTH_8U, 1)
IplImage *	imageEig
IplImage *	imageLast = cvCreateImage(imgSize, IPL_DEPTH_8U, 1)
const int	imagePixelNum = imageHeight * imageWidth
ros::Publisher *	imagePointsLastPubPointer
IplImage *	imageShow = cvCreateImage(showSize, IPL_DEPTH_8U, 1)
ros::Publisher *	imageShowPubPointer
IplImage *	imageTmp
CvSize	imgSize = cvSize(imageWidth, imageHeight)
CvMat	kMat = cvMat(3, 3, CV_64FC1, kImage)
const int	MAXFEATURENUM = maxFeatureNumPerSubregion * totalSubregionNum
const int	maxFeatureNumPerSubregion = 2
const double	maxTrackDis = 100
IplImage *	pyrCur
IplImage *	pyrLast
int	showCount = 0
const int	showDSRate = 2
CvSize	showSize = cvSize(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 = 15
const int	xBoundary = 20
const int	xSubregionNum = 12
const int	yBoundary = 20
const int	ySubregionNum = 8

---

Function Documentation

void imageDataHandler

(

const sensor_msgs::Image::ConstPtr &

imageData

)

Definition at line 65 of file featureTracking.cpp.

pcl::PointCloud<ImagePoint>::Ptr imagePointsCur

(

new pcl::PointCloud< ImagePoint >

()

)

pcl::PointCloud<ImagePoint>::Ptr imagePointsLast

(

new pcl::PointCloud< ImagePoint >

()

)

int main	(	int	argc,
		char **	argv
	)

Definition at line 208 of file featureTracking.cpp.

---

Variable Documentation

cv_bridge::CvImage bridge

Definition at line 63 of file featureTracking.cpp.

CvPoint2D32f* featuresCur = new CvPoint2D32f[2 * MAXFEATURENUM]

Definition at line 47 of file featureTracking.cpp.

float featuresError[2 *MAXFEATURENUM]

Definition at line 50 of file featureTracking.cpp.

char featuresFound[2 *MAXFEATURENUM]

Definition at line 49 of file featureTracking.cpp.

int featuresInd[2 *MAXFEATURENUM] = {0}

Definition at line 53 of file featureTracking.cpp.

int featuresIndFromStart = 0

Definition at line 52 of file featureTracking.cpp.

CvPoint2D32f* featuresLast = new CvPoint2D32f[2 * MAXFEATURENUM]

Definition at line 48 of file featureTracking.cpp.

IplImage* harrisLast = cvCreateImage(showSize, IPL_DEPTH_32F, 1)

Definition at line 27 of file featureTracking.cpp.

IplImage* imageCur = cvCreateImage(imgSize, IPL_DEPTH_8U, 1)

Definition at line 18 of file featureTracking.cpp.

IplImage* imageEig

Definition at line 45 of file featureTracking.cpp.

IplImage* imageLast = cvCreateImage(imgSize, IPL_DEPTH_8U, 1)

Definition at line 19 of file featureTracking.cpp.

const int imagePixelNum = imageHeight * imageWidth

Definition at line 15 of file featureTracking.cpp.

ros::Publisher* imagePointsLastPubPointer

Definition at line 61 of file featureTracking.cpp.

IplImage* imageShow = cvCreateImage(showSize, IPL_DEPTH_8U, 1)

Definition at line 26 of file featureTracking.cpp.

ros::Publisher* imageShowPubPointer

Definition at line 62 of file featureTracking.cpp.

IplImage * imageTmp

Definition at line 45 of file featureTracking.cpp.

CvSize imgSize = cvSize(imageWidth, imageHeight)

Definition at line 16 of file featureTracking.cpp.

CvMat kMat = cvMat(3, 3, CV_64FC1, kImage)

Definition at line 29 of file featureTracking.cpp.

const int MAXFEATURENUM = maxFeatureNumPerSubregion * totalSubregionNum

Definition at line 35 of file featureTracking.cpp.

const int maxFeatureNumPerSubregion = 2

Definition at line 31 of file featureTracking.cpp.

const double maxTrackDis = 100

Definition at line 42 of file featureTracking.cpp.

IplImage * pyrCur

Definition at line 45 of file featureTracking.cpp.

IplImage * pyrLast

Definition at line 45 of file featureTracking.cpp.

int showCount = 0

Definition at line 21 of file featureTracking.cpp.

const int showDSRate = 2

Definition at line 23 of file featureTracking.cpp.

CvSize showSize = cvSize(imageWidth / showDSRate, imageHeight / showDSRate)

Definition at line 24 of file featureTracking.cpp.

const int showSkipNum = 2

Definition at line 22 of file featureTracking.cpp.

int subregionFeatureNum[2 *totalSubregionNum] = {0}

Definition at line 56 of file featureTracking.cpp.

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

Definition at line 40 of file featureTracking.cpp.

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

Definition at line 39 of file featureTracking.cpp.

bool systemInited = false

Definition at line 12 of file featureTracking.cpp.

double timeCur

Definition at line 13 of file featureTracking.cpp.

double timeLast

Definition at line 13 of file featureTracking.cpp.

int totalFeatureNum = 0

Definition at line 55 of file featureTracking.cpp.

const int totalSubregionNum = xSubregionNum * ySubregionNum

Definition at line 34 of file featureTracking.cpp.

const int winSize = 15

Definition at line 43 of file featureTracking.cpp.

const int xBoundary = 20

Definition at line 37 of file featureTracking.cpp.

const int xSubregionNum = 12

Definition at line 32 of file featureTracking.cpp.

const int yBoundary = 20

Definition at line 38 of file featureTracking.cpp.

const int ySubregionNum = 8

Definition at line 33 of file featureTracking.cpp.