Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
omip::PointFeatureTracker Class Reference

#include <PointFeatureTracker.h>

Inheritance diagram for omip::PointFeatureTracker:
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Public Member Functions

virtual void addPredictedState (const ft_state_t &predicted_state, const double &predicted_state_timestamp_ns)
 Add a new prediction about the state generated in the higher level (as prediction about the next measurement) More...
 
virtual void correctState ()
 Corrects the predicted state(s). First we track the features using both the prediction with the system model (copy of the previous feature locations) and if there is a prediction from the higher level (RBT) we track features using it too. We then decide which prediction is the "most likely" based on the quality measurement that the feature tracker returns and use the new location to update the belief state. More...
 
virtual cv_bridge::CvImagePtr getDepthEdgesImg ()
 
virtual cv_bridge::CvImagePtr getDepthImg ()
 
virtual cv_bridge::CvImagePtr getDetectingMaskImg ()
 
virtual cv_bridge::CvImagePtr getPredictedAndLastFeaturesImg ()
 
virtual cv_bridge::CvImagePtr getPredictingMaskImg ()
 
virtual cv_bridge::CvImagePtr getRGBImg ()
 
virtual ft_state_t getState () const
 
virtual cv_bridge::CvImagePtr getTrackedFeaturesImg ()
 
virtual cv_bridge::CvImagePtr getTrackedFeaturesWithPredictionMaskImg ()
 
virtual cv_bridge::CvImagePtr getTrackingMaskImg ()
 
 PointFeatureTracker (double loop_period_ns, bool using_pc=false, std::string ft_ns=std::string(""))
 
virtual void predictMeasurement ()
 Second step when updating the filter. The next measurement is predicted from the predicted next state (part of the RecursiveEstimatorInterface) More...
 
virtual void predictState (double time_interval_ns)
 First step when updating the filter. The next state is predicted from current state and system model (part of the RecursiveEstimatorInterace) In the FeatureTracker the system model is the most simple one: no change in the state. So the predicted state is just the current state. More...
 
virtual void setCameraInfoMsg (const sensor_msgs::CameraInfo *camera_info)
 
virtual void setDynamicReconfigureValues (feature_tracker::FeatureTrackerDynReconfConfig &config)
 Set the messages that have to be estimated and published. More...
 
virtual void setFullRGBDPC (PointCloudPCL::ConstPtr full_rgb_pc)
 
virtual void setOcclusionMaskImg (cv_bridge::CvImagePtr occ_mask_img)
 
virtual void setSelfOcclusionPositive (bool so_positive)
 Set if the self occlusion image will be black in the background and white for the occluded area (so_positive = true, new) or white in the background and black in the occluded area (so_positive = false, old) More...
 
virtual ~PointFeatureTracker ()
 
- Public Member Functions inherited from omip::FeatureTracker
 FeatureTracker (double loop_period_ns)
 Default constructor. More...
 
virtual ~FeatureTracker ()
 Default destructor (empty) More...
 
- Public Member Functions inherited from omip::RecursiveEstimatorFilterInterface< ft_state_t, ft_measurement_t >
virtual void addPredictedState (const StateType &predicted_state, const double &predicted_state_timestamp_ns)=0
 
virtual MeasurementType getPredictedMeasurement () const
 
 RecursiveEstimatorFilterInterface (double loop_period_ns)
 
virtual void setMeasurement (const MeasurementType &acquired_measurement, const double &measurement_timestamp)
 
virtual ~RecursiveEstimatorFilterInterface ()
 

Protected Member Functions

int _Compare3DCoords ()
 
void _DetectNewFeatures ()
 
void _EstimateDetectionMask ()
 
void _InitializeVariables ()
 
void _ProcessDepthImg ()
 
void _ProcessOcclusionMaskImg ()
 
void _ProcessPredictedLocationsPC ()
 
void _ProcessRGBImg ()
 
void _ReadParameters ()
 
int _Retrieve3DCoords (std::vector< cv::Point2f > &points_in_2d, std::vector< bool > &points_status, std::vector< cv::Point3d > &points_in_3d)
 
void _TrackFeatures ()
 

Protected Attributes

bool _attention_to_motion
 
cv::Mat _aux1_mat
 
bool _camera_info_msg_rcvd
 
sensor_msgs::CameraInfo::Ptr _camera_info_ptr
 
cv::Mat _canny_edges_mat
 
int _canny_kernel_size
 
double _canny_low_threshold
 
int _canny_ratio
 
std::vector< cv::Point3d > _corrected_belief_state
 
std::vector< cv::Point2f > _corrected_measurement
 
cv_bridge::CvImagePtr _current_bw_img_ptr
 
std::vector< int > _current_feat_ids_v
 
cv::Mat _depth_difference_mask
 
cv_bridge::CvImagePtr _depth_edges_img
 
cv_bridge::CvImagePtr _depth_img_ptr
 
cv::Mat _depth_mat
 
cv_bridge::CvImagePtr _detecting_mask_img
 
cv::Mat _erosion_element_detecting_mat
 
cv::Mat _erosion_element_tracking_mat
 
int _erosion_size_detecting
 
int _erosion_size_tracking
 
std::vector< std::vector< float > > _feat_quality
 
std::vector< bool > _feat_status_v
 
cv::Mat _feats_detection_msk_mat
 
cv::Mat _feats_tracking_msk_mat
 
Feature::Id _feature_id_counter
 
std::ofstream _features_file
 
bool _first_frame
 
int _frame_counter
 
std::string _ft_ns
 
Eigen::Matrix< double, 3, 4 > _image_plane_proj_mat_eigen
 
double _max_allowed_depth
 
double _max_interframe_jump
 
double _min_allowed_depth
 
int _min_area_size_pixels
 
double _min_depth_difference
 
double _min_feat_quality
 
int _min_number_of_features
 
double _min_time_to_detect_motion
 
ros::NodeHandle _node_handle
 
int _number_of_features
 
cv_bridge::CvImagePtr _occlusion_msk_img_ptr
 
bool _occlusion_msk_img_rcvd
 
cv::Mat _occlusion_msk_mat
 
cv_bridge::CvImagePtr _predicted_and_previous_features_img
 
cv::Mat _predicted_feats_msk_mat
 
std::vector< std::vector< cv::Point2f > > _predicted_measurements
 
bool _predicted_state_processed
 
bool _predicted_state_rcvd
 
ros::Time _predicted_state_rcvd_time
 
double _predicted_state_rcvd_time_ns
 
cv_bridge::CvImagePtr _predicting_mask_img
 
std::vector< cv::Point3d > _previous_belief_state
 
cv_bridge::CvImagePtr _previous_bw_img_ptr
 
cv::Mat _previous_depth_mat
 
std::vector< int > _previous_feat_ids_v
 
std::vector< cv::Point2f > _previous_measurement
 
ros::Time _previous_time_of_motion_detection
 
int _processing_factor
 
bool _publishing_predicted_and_past_feats_img
 
bool _publishing_tracked_feats_img
 
bool _publishing_tracked_feats_with_pred_msk_img
 
PointCloudPCL::ConstPtr _received_point_cloud
 
std::vector< int > _received_prediction_ids
 
cv_bridge::CvImagePtr _rgb_img_ptr
 
double _sensor_fps
 
bool _so_positive
 
cv_bridge::CvImagePtr _tracked_features_img
 
cv_bridge::CvImagePtr _tracked_features_with_pred_msk_img
 
cv_bridge::CvImagePtr _tracking_mask_img
 
bool _use_motion_mask
 
bool _using_pc
 
- Protected Attributes inherited from omip::RecursiveEstimatorFilterInterface< ft_state_t, ft_measurement_t >
std::string _filter_name
 
double _loop_period_ns
 
MeasurementType _measurement
 
double _measurement_timestamp_ns
 
StateType _most_likely_predicted_state
 
MeasurementType _predicted_measurement
 
std::vector< StateType > _predicted_states
 
double _previous_measurement_timestamp_ns
 
StateType _state
 

Detailed Description

Class PointFeatureTracker It implements the interface FeatureTracker Tracks features in the RGB stream and returns a PCL point cloud with their new 3D coordinates

Definition at line 63 of file PointFeatureTracker.h.

Constructor & Destructor Documentation

PointFeatureTracker::PointFeatureTracker ( double  loop_period_ns,
bool  using_pc = false,
std::string  ft_ns = std::string("") 
)

Constructor

Definition at line 33 of file PointFeatureTracker.cpp.

PointFeatureTracker::~PointFeatureTracker ( )
virtual

Destructor

Definition at line 71 of file PointFeatureTracker.cpp.

Member Function Documentation

int PointFeatureTracker::_Compare3DCoords ( )
protected

Compare current and previous 3D coordinates of the tracked Features to reject jumping ones. This limits the maximum velocity of a pixel in 3D space. 3D locations is too large) its status changes to false

Returns
- Number of 3D Features that jumped (rejected)

Definition at line 966 of file PointFeatureTracker.cpp.

void PointFeatureTracker::_DetectNewFeatures ( )
protected

Definition at line 666 of file PointFeatureTracker.cpp.

void PointFeatureTracker::_EstimateDetectionMask ( )
protected

Definition at line 655 of file PointFeatureTracker.cpp.

void PointFeatureTracker::_InitializeVariables ( )
protected

Initialize matrices and variables used during the execution

Definition at line 599 of file PointFeatureTracker.cpp.

void PointFeatureTracker::_ProcessDepthImg ( )
protected

Process the previously received depth img

Definition at line 229 of file PointFeatureTracker.cpp.

void PointFeatureTracker::_ProcessOcclusionMaskImg ( )
protected

Process the previously received occlusion mask img

Definition at line 379 of file PointFeatureTracker.cpp.

void omip::PointFeatureTracker::_ProcessPredictedLocationsPC ( )
protected

Process the previously received predicted locations pointcloud

void PointFeatureTracker::_ProcessRGBImg ( )
protected

Process the previously received rgb img

Definition at line 372 of file PointFeatureTracker.cpp.

void PointFeatureTracker::_ReadParameters ( )
protected

Read parameters from ROS

Definition at line 552 of file PointFeatureTracker.cpp.

int PointFeatureTracker::_Retrieve3DCoords ( std::vector< cv::Point2f > &  points_in_2d,
std::vector< bool > &  points_status,
std::vector< cv::Point3d > &  points_in_3d 
)
protected

Retrieve the 3D coordinates of a set of 2D Features

Parameters
points_in_2d- 2D locations of the Features in image plane
points_ids- ID of the Features
points_status- Status of the Features: If the 3D coordinates of a Feature cannot be retrieved, its status changes to false
points_in_3d- Returning vector with the 3D coordinates and the Id of the Features
Returns
- Number of 2D Features whose 3D coordinates couldn't be retrieved (rejected)

Definition at line 884 of file PointFeatureTracker.cpp.

void PointFeatureTracker::_TrackFeatures ( )
protected

Track the features that were detected previously and detect new features if needed

Definition at line 726 of file PointFeatureTracker.cpp.

void PointFeatureTracker::addPredictedState ( const ft_state_t &  predicted_state,
const double &  predicted_state_timestamp_ns 
)
virtual

Add a new prediction about the state generated in the higher level (as prediction about the next measurement)

Parameters
predicted_statePredicted next state

Definition at line 212 of file PointFeatureTracker.cpp.

void PointFeatureTracker::correctState ( )
virtual

Corrects the predicted state(s). First we track the features using both the prediction with the system model (copy of the previous feature locations) and if there is a prediction from the higher level (RBT) we track features using it too. We then decide which prediction is the "most likely" based on the quality measurement that the feature tracker returns and use the new location to update the belief state.

Implements omip::FeatureTracker.

Definition at line 173 of file PointFeatureTracker.cpp.

cv_bridge::CvImagePtr PointFeatureTracker::getDepthEdgesImg ( )
virtual

Get the image with the depth edges, used to reject Features that are on edges

Returns
- Shared pointer to the image of depth edges

Reimplemented from omip::FeatureTracker.

Definition at line 475 of file PointFeatureTracker.cpp.

cv_bridge::CvImagePtr PointFeatureTracker::getDepthImg ( )
virtual

Reimplemented from omip::FeatureTracker.

Definition at line 458 of file PointFeatureTracker.cpp.

cv_bridge::CvImagePtr PointFeatureTracker::getDetectingMaskImg ( )
virtual

Get the mask used to detect new features. Combines edges, max depth and mask of current features (to not detect them)

Returns
- Shared pointer to the image of detecting mask

Reimplemented from omip::FeatureTracker.

Definition at line 499 of file PointFeatureTracker.cpp.

cv_bridge::CvImagePtr PointFeatureTracker::getPredictedAndLastFeaturesImg ( )
virtual

Get the image with the last feature locations and the predicted feature locations

Returns
- Shared pointer to the image of the predicted and last features

Reimplemented from omip::FeatureTracker.

Definition at line 507 of file PointFeatureTracker.cpp.

cv_bridge::CvImagePtr PointFeatureTracker::getPredictingMaskImg ( )
virtual

Get the image with the depth edges, used to reject Features that are on edges

Returns
- Shared pointer to the image of depth edges

Reimplemented from omip::FeatureTracker.

Definition at line 483 of file PointFeatureTracker.cpp.

cv_bridge::CvImagePtr PointFeatureTracker::getRGBImg ( )
virtual

Reimplemented from omip::FeatureTracker.

Definition at line 453 of file PointFeatureTracker.cpp.

ft_state_t PointFeatureTracker::getState ( ) const
virtual

Get a point cloud with the 3D locations and the unique Feature Id (L value) of the last tracked features

Returns
- Shared pointer to the 3D XYZL point cloud of tracked Features

Implements omip::FeatureTracker.

Definition at line 416 of file PointFeatureTracker.cpp.

cv_bridge::CvImagePtr PointFeatureTracker::getTrackedFeaturesImg ( )
virtual

Get the last tracked Features as marks in the RGB image

Returns
- Shared pointer to the image with the 2D tracked Feature locations marked

Reimplemented from omip::FeatureTracker.

Definition at line 421 of file PointFeatureTracker.cpp.

cv_bridge::CvImagePtr PointFeatureTracker::getTrackedFeaturesWithPredictionMaskImg ( )
virtual

Get a pointer to a RGB image with markers where the Features have been tracked in the last step and only showing the RGB area where the features are searched

Returns
- Shared pointer to the RGB image with markers and searching areas

Reimplemented from omip::FeatureTracker.

Definition at line 463 of file PointFeatureTracker.cpp.

cv_bridge::CvImagePtr PointFeatureTracker::getTrackingMaskImg ( )
virtual

Get the mask used to track features. Combines edges, predictions mask and max depth

Returns
- Shared pointer to the image of tracking mask

Reimplemented from omip::FeatureTracker.

Definition at line 491 of file PointFeatureTracker.cpp.

void PointFeatureTracker::predictMeasurement ( )
virtual

Second step when updating the filter. The next measurement is predicted from the predicted next state (part of the RecursiveEstimatorInterface)

In the FeatureTracker it is not clear what are the measurements:

  • From one side, the measurements are the RGB-D frames coming from the sensor. But we cannot predict entire RGB-D frames from 3D feature locations!
  • From the other side, the measurements are the 2D locations of the tracked features because we can predict them by projecting the predicted state(s) into the image plane.

Implements omip::RecursiveEstimatorFilterInterface< ft_state_t, ft_measurement_t >.

Definition at line 88 of file PointFeatureTracker.cpp.

void PointFeatureTracker::predictState ( double  time_interval_ns)
virtual

First step when updating the filter. The next state is predicted from current state and system model (part of the RecursiveEstimatorInterace) In the FeatureTracker the system model is the most simple one: no change in the state. So the predicted state is just the current state.

Implements omip::FeatureTracker.

Definition at line 81 of file PointFeatureTracker.cpp.

void PointFeatureTracker::setCameraInfoMsg ( const sensor_msgs::CameraInfo *  camera_info)
virtual

Set the camera parameters to be used to project the 3D predicted Feature locations to the image plane and convert them into image coordinates

Parameters
camera_info- Pointer to the CameraInfo message containing the camera parameters

Reimplemented from omip::FeatureTracker.

Definition at line 391 of file PointFeatureTracker.cpp.

void PointFeatureTracker::setDynamicReconfigureValues ( feature_tracker::FeatureTrackerDynReconfConfig &  config)
virtual

Set the messages that have to be estimated and published.

Parameters
configValue from Dynamic Reconfigure

Implements omip::FeatureTracker.

Definition at line 76 of file PointFeatureTracker.cpp.

void PointFeatureTracker::setFullRGBDPC ( PointCloudPCL::ConstPtr  full_rgb_pc)
virtual

Set a new RGBD point cloud to use for tracking in 3D. The RGBD point cloud is used to retrieve the 3D coordinates of the features tracked in 2D

Parameters
full_rgb_pc- Shared pointer to the new RGBD point cloud

Reimplemented from omip::FeatureTracker.

Definition at line 218 of file PointFeatureTracker.cpp.

void PointFeatureTracker::setOcclusionMaskImg ( cv_bridge::CvImagePtr  occ_mask_img)
virtual

Set a new occlusion mask image for tracking in 3D. The occlusion mask predicts the area of the RGB image that will be occluded (where it will be visible) the arm of the robot when it executes an interaction. Features on this area will be rejected.

Parameters
occ_mask_img- Shared pointer to the new occlusion mask image

Reimplemented from omip::FeatureTracker.

Definition at line 223 of file PointFeatureTracker.cpp.

void PointFeatureTracker::setSelfOcclusionPositive ( bool  so_positive)
virtual

Set if the self occlusion image will be black in the background and white for the occluded area (so_positive = true, new) or white in the background and black in the occluded area (so_positive = false, old)

Parameters
so_positiveFlag value

Definition at line 547 of file PointFeatureTracker.cpp.

Member Data Documentation

bool omip::PointFeatureTracker::_attention_to_motion
protected

Definition at line 293 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_aux1_mat
protected

Definition at line 276 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_camera_info_msg_rcvd
protected

Definition at line 291 of file PointFeatureTracker.h.

sensor_msgs::CameraInfo::Ptr omip::PointFeatureTracker::_camera_info_ptr
protected

Definition at line 266 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_canny_edges_mat
protected

Definition at line 275 of file PointFeatureTracker.h.

int omip::PointFeatureTracker::_canny_kernel_size
protected

Definition at line 296 of file PointFeatureTracker.h.

double omip::PointFeatureTracker::_canny_low_threshold
protected

Definition at line 298 of file PointFeatureTracker.h.

int omip::PointFeatureTracker::_canny_ratio
protected

Definition at line 297 of file PointFeatureTracker.h.

std::vector<cv::Point3d> omip::PointFeatureTracker::_corrected_belief_state
protected

Definition at line 282 of file PointFeatureTracker.h.

std::vector<cv::Point2f> omip::PointFeatureTracker::_corrected_measurement
protected

Definition at line 281 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_current_bw_img_ptr
protected

Definition at line 272 of file PointFeatureTracker.h.

std::vector<int> omip::PointFeatureTracker::_current_feat_ids_v
protected

Definition at line 284 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_depth_difference_mask
protected

Definition at line 276 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_depth_edges_img
protected

Definition at line 273 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_depth_img_ptr
protected

Definition at line 272 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_depth_mat
protected

Definition at line 275 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_detecting_mask_img
protected

Definition at line 274 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_erosion_element_detecting_mat
protected

Definition at line 276 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_erosion_element_tracking_mat
protected

Definition at line 276 of file PointFeatureTracker.h.

int omip::PointFeatureTracker::_erosion_size_detecting
protected

Definition at line 296 of file PointFeatureTracker.h.

int omip::PointFeatureTracker::_erosion_size_tracking
protected

Definition at line 296 of file PointFeatureTracker.h.

std::vector<std::vector<float> > omip::PointFeatureTracker::_feat_quality
protected

Definition at line 303 of file PointFeatureTracker.h.

std::vector<bool> omip::PointFeatureTracker::_feat_status_v
protected

Definition at line 283 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_feats_detection_msk_mat
protected

Definition at line 275 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_feats_tracking_msk_mat
protected

Definition at line 275 of file PointFeatureTracker.h.

Feature::Id omip::PointFeatureTracker::_feature_id_counter
protected

Definition at line 300 of file PointFeatureTracker.h.

std::ofstream omip::PointFeatureTracker::_features_file
protected

Definition at line 305 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_first_frame
protected

Definition at line 291 of file PointFeatureTracker.h.

int omip::PointFeatureTracker::_frame_counter
protected

Definition at line 297 of file PointFeatureTracker.h.

std::string omip::PointFeatureTracker::_ft_ns
protected

Definition at line 301 of file PointFeatureTracker.h.

Eigen::Matrix<double, 3, 4> omip::PointFeatureTracker::_image_plane_proj_mat_eigen
protected

Definition at line 278 of file PointFeatureTracker.h.

double omip::PointFeatureTracker::_max_allowed_depth
protected

Definition at line 298 of file PointFeatureTracker.h.

double omip::PointFeatureTracker::_max_interframe_jump
protected

Definition at line 298 of file PointFeatureTracker.h.

double omip::PointFeatureTracker::_min_allowed_depth
protected

Definition at line 298 of file PointFeatureTracker.h.

int omip::PointFeatureTracker::_min_area_size_pixels
protected

Definition at line 297 of file PointFeatureTracker.h.

double omip::PointFeatureTracker::_min_depth_difference
protected

Definition at line 298 of file PointFeatureTracker.h.

double omip::PointFeatureTracker::_min_feat_quality
protected

Definition at line 298 of file PointFeatureTracker.h.

int omip::PointFeatureTracker::_min_number_of_features
protected

Definition at line 297 of file PointFeatureTracker.h.

double omip::PointFeatureTracker::_min_time_to_detect_motion
protected

Definition at line 298 of file PointFeatureTracker.h.

ros::NodeHandle omip::PointFeatureTracker::_node_handle
protected

Definition at line 265 of file PointFeatureTracker.h.

int omip::PointFeatureTracker::_number_of_features
protected

Definition at line 297 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_occlusion_msk_img_ptr
protected

Definition at line 272 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_occlusion_msk_img_rcvd
protected

Definition at line 291 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_occlusion_msk_mat
protected

Definition at line 276 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_predicted_and_previous_features_img
protected

Definition at line 274 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_predicted_feats_msk_mat
protected

Definition at line 275 of file PointFeatureTracker.h.

std::vector<std::vector<cv::Point2f> > omip::PointFeatureTracker::_predicted_measurements
protected

Definition at line 280 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_predicted_state_processed
protected

Definition at line 291 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_predicted_state_rcvd
protected

Definition at line 291 of file PointFeatureTracker.h.

ros::Time omip::PointFeatureTracker::_predicted_state_rcvd_time
protected

Definition at line 287 of file PointFeatureTracker.h.

double omip::PointFeatureTracker::_predicted_state_rcvd_time_ns
protected

Definition at line 288 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_predicting_mask_img
protected

Definition at line 273 of file PointFeatureTracker.h.

std::vector<cv::Point3d> omip::PointFeatureTracker::_previous_belief_state
protected

Definition at line 282 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_previous_bw_img_ptr
protected

Definition at line 272 of file PointFeatureTracker.h.

cv::Mat omip::PointFeatureTracker::_previous_depth_mat
protected

Definition at line 276 of file PointFeatureTracker.h.

std::vector<int> omip::PointFeatureTracker::_previous_feat_ids_v
protected

Definition at line 284 of file PointFeatureTracker.h.

std::vector<cv::Point2f> omip::PointFeatureTracker::_previous_measurement
protected

Definition at line 281 of file PointFeatureTracker.h.

ros::Time omip::PointFeatureTracker::_previous_time_of_motion_detection
protected

Definition at line 287 of file PointFeatureTracker.h.

int omip::PointFeatureTracker::_processing_factor
protected

Definition at line 297 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_publishing_predicted_and_past_feats_img
protected

Definition at line 292 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_publishing_tracked_feats_img
protected

Definition at line 292 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_publishing_tracked_feats_with_pred_msk_img
protected

Definition at line 292 of file PointFeatureTracker.h.

PointCloudPCL::ConstPtr omip::PointFeatureTracker::_received_point_cloud
protected

Definition at line 269 of file PointFeatureTracker.h.

std::vector<int> omip::PointFeatureTracker::_received_prediction_ids
protected

Definition at line 285 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_rgb_img_ptr
protected

Definition at line 272 of file PointFeatureTracker.h.

double omip::PointFeatureTracker::_sensor_fps
protected

Definition at line 298 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_so_positive
protected

Definition at line 307 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_tracked_features_img
protected

Definition at line 273 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_tracked_features_with_pred_msk_img
protected

Definition at line 273 of file PointFeatureTracker.h.

cv_bridge::CvImagePtr omip::PointFeatureTracker::_tracking_mask_img
protected

Definition at line 274 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_use_motion_mask
protected

Definition at line 293 of file PointFeatureTracker.h.

bool omip::PointFeatureTracker::_using_pc
protected

Definition at line 291 of file PointFeatureTracker.h.

The documentation for this class was generated from the following files:

feature_tracker
Author(s): Roberto Martín-Martín
autogenerated on Mon Jun 10 2019 14:06:08