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Public Member Functions | Private Member Functions | Private Attributes
ccny_rgbd::FeatureViewer Class Reference

Application to test and visualize the different type of feature detectors. More...

#include <feature_viewer.h>

List of all members.

Public Member Functions

 FeatureViewer (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
 Constructor from ROS nodehandles.
virtual ~FeatureViewer ()
 Default destructor.

Private Member Functions

void gftReconfigCallback (GftDetectorConfig &config, uint32_t level)
 ROS dynamic reconfigure callback function for GFT.
void initParams ()
 Initializes all the parameters from the ROS param server.
void orbReconfigCallback (OrbDetectorConfig &config, uint32_t level)
 ROS dynamic reconfigure callback function for ORB.
void publishFeatureCloud (rgbdtools::RGBDFrame &frame)
 Publish the feature point cloud.
void publishFeatureCovariances (rgbdtools::RGBDFrame &frame)
 Publish the feature covariance markers.
void reconfigCallback (FeatureDetectorConfig &config, uint32_t level)
 ROS dynamic reconfigure callback function.
void resetDetector ()
 Re-instantiates the feature detector based on the detector type parameter.
void RGBDCallback (const ImageMsg::ConstPtr &rgb_msg, const ImageMsg::ConstPtr &depth_msg, const CameraInfoMsg::ConstPtr &info_msg)
 Main callback for RGB, Depth, and CameraInfo messages.
void showKeypointImage (rgbdtools::RGBDFrame &frame)
 Show the image with keypoints.
void starReconfigCallback (StarDetectorConfig &config, uint32_t level)
 ROS dynamic reconfigure callback function for STAR.
void surfReconfigCallback (SurfDetectorConfig &config, uint32_t level)
 ROS dynamic reconfigure callback function for SURF.

Private Attributes

ros::Publisher cloud_publisher_
 publisher for feature point cloud
FeatureDetectorConfigServer config_server_
 ROS dynamic reconfigure server.
ros::Publisher covariances_publisher_
 publisher for feature covariances
boost::shared_ptr< ImageTransportdepth_it_
 Image transport for depth message subscription.
std::string detector_type_
 Feature detector type parameter.
rgbdtools::FeatureDetectorPtr feature_detector_
 The feature detector object.
int frame_count_
 RGBD frame counter.
GftDetectorConfigServerPtr gft_config_server_
 ROS dynamic reconfigure server for GFT params.
boost::mutex mutex_
 state mutex
ros::NodeHandle nh_
 the public nodehandle
ros::NodeHandle nh_private_
 the private nodehandle
OrbDetectorConfigServerPtr orb_config_server_
 ROS dynamic reconfigure server for ORB params.
bool publish_cloud_
 If true, publish the pcl feature cloud.
bool publish_covariances_
 If true, publish the covariance markers.
int queue_size_
 Subscription queue size.
boost::shared_ptr< ImageTransportrgb_it_
 Image transport for RGB message subscription.
bool show_keypoints_
 If true, show an OpenCV window with the features.
StarDetectorConfigServerPtr star_config_server_
 ROS dynamic reconfigure server for STAR params.
ImageSubFilter sub_depth_
 Depth message subscriber.
CameraInfoSubFilter sub_info_
 Camera info message subscriber.
ImageSubFilter sub_rgb_
 RGB message subscriber.
SurfDetectorConfigServerPtr surf_config_server_
 ROS dynamic reconfigure server for SURF params.
boost::shared_ptr
< RGBDSynchronizer3
sync_
 Callback syncronizer.

Detailed Description

Application to test and visualize the different type of feature detectors.

Definition at line 49 of file feature_viewer.h.


Constructor & Destructor Documentation

Constructor from ROS nodehandles.

Parameters:
nhthe public nodehandle
nh_privatethe private nodehandle

Definition at line 28 of file feature_viewer.cpp.

Default destructor.

Definition at line 73 of file feature_viewer.cpp.


Member Function Documentation

void ccny_rgbd::FeatureViewer::gftReconfigCallback ( GftDetectorConfig &  config,
uint32_t  level 
) [private]

ROS dynamic reconfigure callback function for GFT.

Definition at line 312 of file feature_viewer.cpp.

Initializes all the parameters from the ROS param server.

Definition at line 80 of file feature_viewer.cpp.

void ccny_rgbd::FeatureViewer::orbReconfigCallback ( OrbDetectorConfig &  config,
uint32_t  level 
) [private]

ROS dynamic reconfigure callback function for ORB.

Definition at line 338 of file feature_viewer.cpp.

Publish the feature point cloud.

Note: this might decrease performance

Definition at line 211 of file feature_viewer.cpp.

Publish the feature covariance markers.

Note: this might decrease performance

Definition at line 218 of file feature_viewer.cpp.

void ccny_rgbd::FeatureViewer::reconfigCallback ( FeatureDetectorConfig &  config,
uint32_t  level 
) [private]

ROS dynamic reconfigure callback function.

Definition at line 292 of file feature_viewer.cpp.

Re-instantiates the feature detector based on the detector type parameter.

Definition at line 94 of file feature_viewer.cpp.

void ccny_rgbd::FeatureViewer::RGBDCallback ( const ImageMsg::ConstPtr &  rgb_msg,
const ImageMsg::ConstPtr &  depth_msg,
const CameraInfoMsg::ConstPtr &  info_msg 
) [private]

Main callback for RGB, Depth, and CameraInfo messages.

Parameters:
rgb_msgRGB message (8UC3)
depth_msgDepth message (16UC1, in mm)
info_msgCameraInfo message, applies to both RGB and depth images

Definition at line 163 of file feature_viewer.cpp.

Show the image with keypoints.

Note: this might decrease performance

Definition at line 202 of file feature_viewer.cpp.

void ccny_rgbd::FeatureViewer::starReconfigCallback ( StarDetectorConfig &  config,
uint32_t  level 
) [private]

ROS dynamic reconfigure callback function for STAR.

Definition at line 321 of file feature_viewer.cpp.

void ccny_rgbd::FeatureViewer::surfReconfigCallback ( SurfDetectorConfig &  config,
uint32_t  level 
) [private]

ROS dynamic reconfigure callback function for SURF.

Definition at line 330 of file feature_viewer.cpp.


Member Data Documentation

publisher for feature point cloud

Definition at line 71 of file feature_viewer.h.

ROS dynamic reconfigure server.

Definition at line 74 of file feature_viewer.h.

publisher for feature covariances

Definition at line 72 of file feature_viewer.h.

Image transport for depth message subscription.

Definition at line 85 of file feature_viewer.h.

Feature detector type parameter.

Possible values:

  • GFT (default)
  • SURF
  • STAR
  • ORB

Definition at line 109 of file feature_viewer.h.

The feature detector object.

Definition at line 136 of file feature_viewer.h.

RGBD frame counter.

Definition at line 134 of file feature_viewer.h.

ROS dynamic reconfigure server for GFT params.

Definition at line 76 of file feature_viewer.h.

boost::mutex ccny_rgbd::FeatureViewer::mutex_ [private]

state mutex

Definition at line 133 of file feature_viewer.h.

the public nodehandle

Definition at line 68 of file feature_viewer.h.

the private nodehandle

Definition at line 69 of file feature_viewer.h.

ROS dynamic reconfigure server for ORB params.

Definition at line 79 of file feature_viewer.h.

If true, publish the pcl feature cloud.

Note: this might slightly decrease performance

Definition at line 123 of file feature_viewer.h.

If true, publish the covariance markers.

Note: this might decrease performance

Definition at line 129 of file feature_viewer.h.

Subscription queue size.

Definition at line 111 of file feature_viewer.h.

boost::shared_ptr<ImageTransport> ccny_rgbd::FeatureViewer::rgb_it_ [private]

Image transport for RGB message subscription.

Definition at line 82 of file feature_viewer.h.

If true, show an OpenCV window with the features.

Note: this might slightly decrease performance

Definition at line 117 of file feature_viewer.h.

ROS dynamic reconfigure server for STAR params.

Definition at line 77 of file feature_viewer.h.

Depth message subscriber.

Definition at line 94 of file feature_viewer.h.

Camera info message subscriber.

Definition at line 97 of file feature_viewer.h.

RGB message subscriber.

Definition at line 91 of file feature_viewer.h.

ROS dynamic reconfigure server for SURF params.

Definition at line 78 of file feature_viewer.h.

boost::shared_ptr<RGBDSynchronizer3> ccny_rgbd::FeatureViewer::sync_ [private]

Callback syncronizer.

Definition at line 88 of file feature_viewer.h.


The documentation for this class was generated from the following files:
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ccny_rgbd
Author(s): Ivan Dryanovski
autogenerated on Tue Aug 27 2013 10:34:02