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

#include <feature_viewer.h>

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 (RGBDFrame &frame)
	Publish the feature point cloud.
void	publishFeatureCovariances (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 (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< ImageTransport >	depth_it_
	Image transport for depth message subscription.
std::string	detector_type_
	Feature detector type parameter.
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< ImageTransport >	rgb_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 54 of file feature_viewer.h.

Constructor & Destructor Documentation

ccny_rgbd::FeatureViewer::FeatureViewer	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	nh_private
	)

Constructor from ROS nodehandles.

Parameters:

nh	the public nodehandle
nh_private	the private nodehandle

Definition at line 28 of file feature_viewer.cpp.

ccny_rgbd::FeatureViewer::~FeatureViewer ( ) [virtual]

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 307 of file feature_viewer.cpp.

void ccny_rgbd::FeatureViewer::initParams ( ) [private]

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 333 of file feature_viewer.cpp.

void ccny_rgbd::FeatureViewer::publishFeatureCloud ( RGBDFrame & frame ) [private]

Publish the feature point cloud.

Note: this might decrease performance

Definition at line 210 of file feature_viewer.cpp.

void ccny_rgbd::FeatureViewer::publishFeatureCovariances ( RGBDFrame & frame ) [private]

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 287 of file feature_viewer.cpp.

void ccny_rgbd::FeatureViewer::resetDetector ( ) [private]

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]`