depth_segmentation.cpp File Reference

Depth (expressed as sensor_msgs/Image) based segmentation node. More...

#include <pal_vision_segmentation/DepthSegmentConfig.h>
#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <dynamic_reconfigure/server.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <boost/scoped_ptr.hpp>

Include dependency graph for depth_segmentation.cpp:

Go to the source code of this file.

Typedefs
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image >	ApproxSync
Functions
void	callback (const sensor_msgs::ImageConstPtr &imMsg, const sensor_msgs::ImageConstPtr &imDepthMsg)
void	getImage (const sensor_msgs::ImageConstPtr &msg, const std::string &encoding, cv::Mat &img)
void	getParameters (ros::NodeHandle &nh)
int	main (int argc, char *argv[])
void	publishResult (const sensor_msgs::ImageConstPtr &imgMsg)
void	reconf_callback (pal_vision_segmentation::DepthSegmentConfig &config, uint32_t level)
void	start (ros::NodeHandle &nh)
	start start subscribers and topic synchronizer
void	stop ()
	stop stop subscribers and topic synchronizer
Variables
int	dilate_iterations
int	dilate_size
bool	enabled
int	erode_iterations
int	erode_size
boost::scoped_ptr < message_filters::Subscriber < sensor_msgs::Image > >	imDepthSub
image_transport::Publisher	img_masked_pub
cv::Mat	imgDepth
boost::scoped_ptr < message_filters::Subscriber < sensor_msgs::Image > >	imSub
cv::Mat	mask
image_transport::Publisher	mask_pub
boost::scoped_ptr < message_filters::Synchronizer < ApproxSync > >	synchronizer
double	threshold

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Detailed Description

Depth (expressed as sensor_msgs/Image) based segmentation node.

Author:

Jordi Pages

Date:

July 2014

Definition in file depth_segmentation.cpp.

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Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> ApproxSync

Definition at line 80 of file depth_segmentation.cpp.

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Function Documentation

void callback	(	const sensor_msgs::ImageConstPtr &	imMsg,
		const sensor_msgs::ImageConstPtr &	imDepthMsg
	)

Definition at line 133 of file depth_segmentation.cpp.

void getImage	(	const sensor_msgs::ImageConstPtr &	msg,
		const std::string &	encoding,
		cv::Mat &	img
	)

Definition at line 86 of file depth_segmentation.cpp.

void getParameters

(

ros::NodeHandle &

nh

)

Definition at line 172 of file depth_segmentation.cpp.

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

Definition at line 222 of file depth_segmentation.cpp.

void publishResult

(

const sensor_msgs::ImageConstPtr &

imgMsg

)

Definition at line 103 of file depth_segmentation.cpp.

void reconf_callback	(	pal_vision_segmentation::DepthSegmentConfig &	config,
		uint32_t	level
	)

Definition at line 163 of file depth_segmentation.cpp.

void start

(

ros::NodeHandle &

nh

)

start start subscribers and topic synchronizer

Definition at line 184 of file depth_segmentation.cpp.

void stop

(

)

stop stop subscribers and topic synchronizer

Definition at line 212 of file depth_segmentation.cpp.

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Variable Documentation

int dilate_iterations

Definition at line 67 of file depth_segmentation.cpp.

int dilate_size

Definition at line 68 of file depth_segmentation.cpp.

bool enabled

Definition at line 84 of file depth_segmentation.cpp.

int erode_iterations

Definition at line 69 of file depth_segmentation.cpp.

int erode_size

Definition at line 70 of file depth_segmentation.cpp.

boost::scoped_ptr< message_filters::Subscriber<sensor_msgs::Image> > imDepthSub

Definition at line 77 of file depth_segmentation.cpp.

image_transport::Publisher img_masked_pub

Definition at line 72 of file depth_segmentation.cpp.

cv::Mat imgDepth

Definition at line 73 of file depth_segmentation.cpp.

boost::scoped_ptr< message_filters::Subscriber<sensor_msgs::Image> > imSub

Definition at line 76 of file depth_segmentation.cpp.

cv::Mat mask

Definition at line 74 of file depth_segmentation.cpp.

image_transport::Publisher mask_pub

Definition at line 72 of file depth_segmentation.cpp.

boost::scoped_ptr< message_filters::Synchronizer<ApproxSync> > synchronizer

Definition at line 82 of file depth_segmentation.cpp.

double threshold

Definition at line 66 of file depth_segmentation.cpp.