#include <image_view2.h>

Public Types
typedef ImageView2Config	Config
enum	KEY_MODE { MODE_RECTANGLE, MODE_SERIES, MODE_SELECT_FORE_AND_BACK, MODE_SELECT_FORE_AND_BACK_RECT, MODE_LINE, MODE_POLY, MODE_NONE }
Public Member Functions
void	addPoint (int x, int y)
void	addRegionPoint (int x, int y)
void	clearPointArray ()
void	drawImage ()
KEY_MODE	getMode ()
void	imageCb (const sensor_msgs::ImageConstPtr &msg)
	ImageView2 ()
	ImageView2 (ros::NodeHandle &nh)
void	infoCb (const sensor_msgs::CameraInfoConstPtr &msg)
bool	isValidMovement (const cv::Point2f &start_point, const cv::Point2f &end_point)
void	markerCb (const image_view2::ImageMarker2ConstPtr &marker)
void	pressKey (int key)
void	publishForegroundBackgroundMask ()
void	publishPointArray ()
void	redraw ()
void	setMode (KEY_MODE mode)
void	setRegionWindowPoint (int x, int y)
void	showImage ()
bool	toggleSelection ()
void	updateRegionWindowSize (int x, int y)
	~ImageView2 ()
Static Public Member Functions
static void	mouseCb (int event, int x, int y, int flags, void *param)
Public Attributes
bool	use_window
Private Member Functions
bool	changeModeServiceCallback (image_view2::ChangeModeRequest &req, image_view2::ChangeModeResponse &res)
void	checkMousePos (int &x, int &y)
void	clearPolyPoints ()
void	config_callback (Config &config, uint32_t level)
void	createDistortGridImage ()
void	cropROI ()
void	drawCircle (const image_view2::ImageMarker2::ConstPtr &marker)
void	drawCircle3D (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawFrames (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawGrid ()
void	drawInfo (ros::Time &before_rendering)
void	drawInteraction ()
void	drawLineList (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawLineList3D (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawLineStrip (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawLineStrip3D (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawMarkers ()
void	drawPoints (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawPoints3D (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawPolygon (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawPolygon3D (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawText (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	drawText3D (const image_view2::ImageMarker2::ConstPtr &marker, std::vector< CvScalar > &colors, std::vector< CvScalar >::iterator &col_it)
void	eventCb (const image_view2::MouseEvent::ConstPtr &event_msg)
void	finishSelectingPoly ()
cv::Point	getLineEndPoint ()
cv::Point	getLineStartPoint ()
bool	grabcutModeServiceCallback (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
bool	grabcutRectModeServiceCallback (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
bool	isPolySelectingFirstTime ()
bool	isSelectingLineStartPoint ()
bool	lineModeServiceCallback (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
bool	lookupTransformation (std::string frame_id, ros::Time &acquisition_time, std::map< std::string, int > &tf_fail, tf::StampedTransform &transform)
bool	noneModeServiceCallback (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
void	pointArrayToMask (std::vector< cv::Point2d > &points, cv::Mat &mask)
bool	polyModeServiceCallback (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
void	processLeftButtonDown (int x, int y)
void	processLeftButtonUp (int x, int y)
void	processMouseEvent (int event, int x, int y, int flags, void *param)
void	processMove (int x, int y)
void	publishLinePoints ()
void	publishMonoImage (ros::Publisher &pub, cv::Mat &image, const std_msgs::Header &header)
void	publishMouseInteractionResult ()
void	publishPolyPoints ()
void	publishRectFromMaskImage (ros::Publisher &pub, cv::Mat &image, const std_msgs::Header &header)
cv::Point	ratioPoint (double x, double y)
bool	rectangleModeServiceCallback (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
void	resetInteraction ()
void	resolveLocalMarkerQueue ()
bool	seriesModeServiceCallback (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
KEY_MODE	stringToMode (const std::string &str)
void	updateLineEndPoint (cv::Point p)
void	updateLinePoint (cv::Point p)
void	updateLineStartPoint (cv::Point p)
void	updatePolyPoint (cv::Point p)
void	updatePolySelectingPoint (cv::Point p)
Private Attributes
bool	autosize_
ros::Publisher	background_mask_pub_
ros::Publisher	background_rect_pub_
bool	blurry_mode_
cv::Point2f	button_up_pos_
image_geometry::PinholeCameraModel	cam_model_
ros::ServiceServer	change_mode_srv_
bool	continuous_ready_
int	count_
cv::Mat	distort_grid_mask_
int	div_u_
int	div_v_
cv::Mat	draw_
bool	draw_grid_
ros::Subscriber	event_sub_
boost::format	filename_format_
bool	fisheye_mode_
int	font_
ros::Publisher	foreground_mask_pub_
ros::Publisher	foreground_rect_pub_
std::vector< std::string >	frame_ids_
ros::ServiceServer	grabcut_mode_srv_
ros::ServiceServer	grabcut_rect_mode_srv_
int	grid_blue_
int	grid_green_
int	grid_red_
int	grid_thickness_
cv::Mat	image_
boost::mutex	image_mutex_
image_transport::Publisher	image_pub_
image_transport::Subscriber	image_sub_
cv_bridge::CvImage	img_bridge_
sensor_msgs::CameraInfoConstPtr	info_msg_
boost::mutex	info_mutex_
ros::Subscriber	info_sub_
sensor_msgs::ImageConstPtr	last_msg_
bool	left_button_clicked_
cv::Point	line_end_point_
ros::ServiceServer	line_mode_srv_
boost::mutex	line_point_mutex_
ros::Publisher	line_pub_
bool	line_select_start_point_
bool	line_selected_
cv::Point	line_start_point_
image_transport::Publisher	local_image_pub_
V_ImageMarkerMessage	local_queue_
V_ImageMarkerMessage	marker_queue_
ros::Subscriber	marker_sub_
std::string	marker_topic_
KEY_MODE	mode_
ros::Publisher	move_point_pub_
ros::ServiceServer	none_mode_srv_
cv::Mat	original_image_
std::vector< cv::Point2d >	point_array_
boost::mutex	point_array_mutex_
ros::Publisher	point_array_pub_
std::vector< cv::Point2d >	point_bg_array_
std::vector< cv::Point2d >	point_fg_array_
ros::Publisher	point_pub_
ros::ServiceServer	poly_mode_srv_
boost::mutex	poly_point_mutex_
std::vector< cv::Point2d >	poly_points_
ros::Publisher	poly_pub_
bool	poly_selecting_done_
cv::Point	poly_selecting_point_
int	prev_blue_
int	prev_green_
int	prev_red_
int	prev_space_
int	prev_thickness_
boost::mutex	queue_mutex_
cv::Rect	rect_bg_
cv::Rect	rect_fg_
ros::Publisher	rectangle_img_pub_
ros::ServiceServer	rectangle_mode_srv_
ros::Publisher	rectangle_pub_
bool	region_continuous_publish_
double	resize_x_
double	resize_y_
bool	selecting_fg_
ros::ServiceServer	series_mode_srv_
bool	show_info_
int	skip_draw_rate_
int	space_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
tf::TransformListener	tf_listener_
double	tf_timeout_
boost::circular_buffer< double >	times_
bool	window_initialized_
std::string	window_name_
CvRect	window_selection_

Detailed Description

Definition at line 83 of file image_view2.h.

Member Typedef Documentation

typedef ImageView2Config image_view2::ImageView2::Config

Definition at line 86 of file image_view2.h.

Member Enumeration Documentation

enum image_view2::ImageView2::KEY_MODE

Enumerator:

MODE_RECTANGLE
MODE_SERIES
MODE_SELECT_FORE_AND_BACK
MODE_SELECT_FORE_AND_BACK_RECT
MODE_LINE
MODE_POLY
MODE_NONE

Definition at line 87 of file image_view2.h.

Constructor & Destructor Documentation

image_view2::ImageView2::ImageView2 ( )

Definition at line 39 of file image_view2.cpp.

image_view2::ImageView2::ImageView2 ( ros::NodeHandle & nh )

Definition at line 43 of file image_view2.cpp.

image_view2::ImageView2::~ImageView2 ( )

Definition at line 123 of file image_view2.cpp.

Member Function Documentation

void image_view2::ImageView2::addPoint	(	int	x,
		int	y
	)

Definition at line 1202 of file image_view2.cpp.

void image_view2::ImageView2::addRegionPoint	(	int	x,
		int	y
	)

Definition at line 1245 of file image_view2.cpp.

bool image_view2::ImageView2::changeModeServiceCallback	(	image_view2::ChangeModeRequest &	req,
		image_view2::ChangeModeResponse &	res
	)		`[private]`

Definition at line 1818 of file image_view2.cpp.

void image_view2::ImageView2::checkMousePos	(	int &	x,
		int &	y
	)		`[private]`

Definition at line 1711 of file image_view2.cpp.

void image_view2::ImageView2::clearPointArray ( )

Definition at line 1261 of file image_view2.cpp.

void image_view2::ImageView2::clearPolyPoints ( ) [private]

Definition at line 1626 of file image_view2.cpp.

void image_view2::ImageView2::config_callback	(	Config &	config,
		uint32_t	level
	)		`[private]`

Definition at line 130 of file image_view2.cpp.

void image_view2::ImageView2::createDistortGridImage ( ) [private]

Definition at line 1083 of file image_view2.cpp.

void image_view2::ImageView2::cropROI ( ) [private]

Definition at line 1036 of file image_view2.cpp.

void image_view2::ImageView2::drawCircle ( const image_view2::ImageMarker2::ConstPtr & marker ) [private]

Definition at line 190 of file image_view2.cpp.

void image_view2::ImageView2::drawCircle3D	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 725 of file image_view2.cpp.

void image_view2::ImageView2::drawFrames	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 360 of file image_view2.cpp.

void image_view2::ImageView2::drawGrid ( ) [private]

Definition at line 1109 of file image_view2.cpp.

void image_view2::ImageView2::drawImage ( )

Definition at line 1196 of file image_view2.cpp.

void image_view2::ImageView2::drawInfo ( ros::Time & before_rendering ) [private]

Definition at line 1001 of file image_view2.cpp.

void image_view2::ImageView2::drawInteraction ( ) [private]

Definition at line 918 of file image_view2.cpp.

void image_view2::ImageView2::drawLineList	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 253 of file image_view2.cpp.

void image_view2::ImageView2::drawLineList3D	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 557 of file image_view2.cpp.

void image_view2::ImageView2::drawLineStrip	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 217 of file image_view2.cpp.

void image_view2::ImageView2::drawLineStrip3D	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 494 of file image_view2.cpp.

void image_view2::ImageView2::drawMarkers ( ) [private]

Definition at line 815 of file image_view2.cpp.

void image_view2::ImageView2::drawPoints	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 338 of file image_view2.cpp.

void image_view2::ImageView2::drawPoints3D	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 659 of file image_view2.cpp.

void image_view2::ImageView2::drawPolygon	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 287 of file image_view2.cpp.

void image_view2::ImageView2::drawPolygon3D	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 601 of file image_view2.cpp.

void image_view2::ImageView2::drawText	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 443 of file image_view2.cpp.

void image_view2::ImageView2::drawText3D	(	const image_view2::ImageMarker2::ConstPtr &	marker,
		std::vector< CvScalar > &	colors,
		std::vector< CvScalar >::iterator &	col_it
	)		`[private]`

Definition at line 689 of file image_view2.cpp.

void image_view2::ImageView2::eventCb ( const image_view2::MouseEvent::ConstPtr & event_msg ) [private]

Definition at line 1858 of file image_view2.cpp.

void image_view2::ImageView2::finishSelectingPoly ( ) [private]

Definition at line 1614 of file image_view2.cpp.

cv::Point image_view2::ImageView2::getLineEndPoint ( ) [private]

Definition at line 1462 of file image_view2.cpp.

cv::Point image_view2::ImageView2::getLineStartPoint ( ) [private]

Definition at line 1456 of file image_view2.cpp.

ImageView2::KEY_MODE image_view2::ImageView2::getMode ( )

Definition at line 1291 of file image_view2.cpp.

bool image_view2::ImageView2::grabcutModeServiceCallback	(	std_srvs::EmptyRequest &	req,
		std_srvs::EmptyResponse &	res
	)		`[private]`

Definition at line 1768 of file image_view2.cpp.

bool image_view2::ImageView2::grabcutRectModeServiceCallback	(	std_srvs::EmptyRequest &	req,
		std_srvs::EmptyResponse &	res
	)		`[private]`

Definition at line 1778 of file image_view2.cpp.

void image_view2::ImageView2::imageCb ( const sensor_msgs::ImageConstPtr & msg )

Definition at line 1147 of file image_view2.cpp.

void image_view2::ImageView2::infoCb ( const sensor_msgs::CameraInfoConstPtr & msg )

Definition at line 157 of file image_view2.cpp.

bool image_view2::ImageView2::isPolySelectingFirstTime ( ) [private]

Definition at line 1620 of file image_view2.cpp.

bool image_view2::ImageView2::isSelectingLineStartPoint ( ) [private]

Definition at line 1485 of file image_view2.cpp.

bool image_view2::ImageView2::isValidMovement	(	const cv::Point2f &	start_point,
		const cv::Point2f &	end_point
	)

Definition at line 1437 of file image_view2.cpp.

bool image_view2::ImageView2::lineModeServiceCallback	(	std_srvs::EmptyRequest &	req,
		std_srvs::EmptyResponse &	res
	)		`[private]`

Definition at line 1788 of file image_view2.cpp.

bool image_view2::ImageView2::lookupTransformation	(	std::string	frame_id,
		ros::Time &	acquisition_time,
		std::map< std::string, int > &	tf_fail,
		tf::StampedTransform &	transform
	)		`[private]`