Manages the optical flow procedure. More...

#include <flow.hpp>

Public Member Functions
void	act_on_image ()
void	attemptTracking ()
int	calculateFeatureMotion (unsigned int idx, double &mx, double &my)
	brief Calculates the average motion of all features successfully tracked from the previous frame.
void	detectNewFeatures ()
void	features_loop (const ros::TimerEvent &event)
	featureTrackerNode (ros::NodeHandle &nh, trackerData startupData)
void	handle_camera (const sensor_msgs::ImageConstPtr &msg_ptr, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	handle_delay ()
void	handle_very_new ()
void	matchWithExistingTracks ()
void	prepareForTermination ()
void	process_info (const sensor_msgs::CameraInfoConstPtr &info_msg)
int	publish_tracks (ros::Publisher *pub_message, unsigned int latestIndex)
void	publishRoutine ()
void	serverCallback (thermalvis::flowConfig &config, uint32_t level)
void	timed_loop (const ros::TimerEvent &event)
void	trimDisplayTrackVectors ()
void	trimFeatureTrackVector ()
void	updateDistanceConstraint ()
Private Attributes
vector< unsigned int >	activeTrackIndices
vector< cv::Point2f >	allRecoveredPoints
double	averageTrackLength
cv::Mat	blownImage
cv::Mat	blurredImage
double	blurSigma
unsigned int	bufferIndices [2]
image_transport::CameraSubscriber	camera_sub
unsigned int	capturedFrameCount
trackerData	configData
int	currentIndex
cv_bridge::CvImagePtr	cv_ptr
unsigned int	cycleCount
bool	cycleFlag
sensor_msgs::CameraInfo	debug_camera_info
image_transport::CameraPublisher	debug_pub
char	debug_pub_name [256]
bool	debugInitialized
cv::Ptr< cv::DescriptorExtractor >	descriptorExtractor
int	discardedNewFeatures
cv::Mat	displayImage
cv::Mat	displayImage2
vector< featureTrack >	displayTracks
cv::Mat	dispMat
int	distanceConstraint
ros::Time	dodgeTime
cv::Mat	drawImage
cv::Mat	drawImage2
cv::Mat	drawImage_resized
double	elapsedTime
dynamic_reconfigure::Server < thermalvis::flowConfig > ::CallbackType	f
double	factor
ofstream	featureMotionStream
ros::Timer	features_timer
double	featuresVelocity
vector< featureTrack >	featureTrackVector
unsigned int	frameCount
bool	freezeNextOutput
vector< cv::Point2f >	globalFinishingPoints
vector< cv::Point2f >	globalStartingPoints
cv::Mat	grayImage
cv::Mat	grayImageBuffer [2]
cv::Mat	H12
bool	handleDelays
unsigned int	historicalIndices []
cv::Mat	homogDescriptors [2]
vector< cv::KeyPoint >	homogPoints [2]
cv::Ptr< cv::FeatureDetector >	homographyDetector
cv::Ptr< cv::DescriptorExtractor >	homographyExtractor
image_transport::Subscriber	image_sub
ros::Time	image_time
ros::Subscriber	info_sub
ros::Time	info_time
bool	infoProcessed
bool	infoSent
image_transport::ImageTransport *	it
cv::Ptr< cv::FeatureDetector >	keypointDetector [MAX_DETECTORS]
cv::Size	ksize
long int	lastAllocatedTrackIndex
ros::Time	lastCycleFrameTime
cv::Mat	lastImage
int	lostTrackCount
vector< unsigned int >	lostTrackIndices
bool	lowPointsWarning
cv::Mat	mappedImage
vector< cv::Point2f >	matchedFeatures
vector< cv::Point2f >	matchedPoints
double	minResponse
sensor_msgs::Image	msg_debug
cv::Mat	newImage
int	newlyDetectedFeatures
int	newlyRecoveredFeatures
vector< cv::Point2f >	newlySensedFeatures
char	nodeName [256]
cv::Mat	normalizedMat
unsigned int	numHistoryFrames
cv::Mat	olderImage
cv::Mat	olderImages [MAX_HISTORY_FRAMES]
unsigned int	olderIndices [MAX_HISTORY_FRAMES]
ros::Time	olderTimes [MAX_HISTORY_FRAMES]
string	optical_frame
ros::Time	original_time
int	peakTracks
vector< cv::Point2f >	preservedRecoveredPoints
ros::Time	previous_time
int	previousIndex
unsigned int	previousTrackedPointsPeak
ros::NodeHandle	private_node_handle
image_transport::CameraPublisher	pub_debug
unsigned int	readyFrame
cv::Mat	realImage
int	referenceFrame
dynamic_reconfigure::Server < thermalvis::flowConfig >	server
struct timeval cycle_timer test_timer	skip_timer
unsigned int	skippedFrameCount
double	skipTime
cv::Mat	subscribedImage
int	successfullyTrackedFeatures
double	testTime
ros::Timer	timer
ofstream	trackCountStream
ros::Publisher	tracks_pub
char	tracks_pub_name [256]
bool	undergoingDelay
vector< cv::Point2f >	unmatchedPoints