featureTracking_ocl.cpp File Reference

#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <ros/ros.h>
#include "cameraParameters.h"
#include "opencv2/ocl/ocl.hpp"
#include "pointDefinition.h"

Include dependency graph for featureTracking_ocl.cpp:

Go to the source code of this file.

Functions
static void	download (const oclMat &ocl_mat, vector< Point2f > &vec)
static void	download (const oclMat &ocl_mat, vector< unsigned char > &vec)
void	imageDataHandler (const sensor_msgs::Image::ConstPtr &imageData)
int	main (int argc, char *argv[])
Variables
cv_bridge::CvImage	bridge
int	detectionCount = 0
const int	detectionSkipNum = 3
Mat	dMat = Mat(4, 1, CV_64FC1, dImage)
vector< Point2f > *	featuresCur = new vector<Point2f>()
vector< int >	featuresInd
int	featuresIndFromStart = 0
vector< Point2f > *	featuresLast = new vector<Point2f>()
vector< unsigned char >	featuresStatus
vector< Point2f >	featuresSub
Mat	harrisLast
Mat	image0
Mat	image1
pcl::PointCloud< ImagePoint >::Ptr	imagePointsCur (new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< ImagePoint >::Ptr	imagePointsLast (new pcl::PointCloud< ImagePoint >())
ros::Publisher *	imagePointsLastPubPointer
Mat	imageShow
ros::Publisher *	imageShowPubPointer
bool	isOddFrame = true
Mat	kMat = Mat(3, 3, CV_64FC1, kImage)
Mat	mapx
Mat	mapy
const int	MAXFEATURENUM = maxFeatureNumPerSubregion * totalSubregionNum
const int	maxFeatureNumPerSubregion = 20
const double	maxTrackDis = 100
GoodFeaturesToTrackDetector_OCL	oclFeatureDetector
oclMat	oclHarrisLast
oclMat	oclImage0
oclMat	oclImage1
oclMat	oclImageShow
PyrLKOpticalFlow	oclOpticalFlow
int	showCount = 0
const int	showDSRate = 2
Size	showSize = Size(imageWidth / showDSRate, imageHeight / showDSRate)
const int	showSkipNum = 2
int	subregionFeatureNum [2 *totalSubregionNum] = {0}
const double	subregionHeight = (double)(imageHeight - 2 * yBoundary) / (double)ySubregionNum
const double	subregionWidth = (double)(imageWidth - 2 * xBoundary) / (double)xSubregionNum
bool	systemInited = false
double	timeCur
double	timeLast
int	totalFeatureNum = 0
const int	totalSubregionNum = xSubregionNum * ySubregionNum
const int	winSize = 21
const int	xBoundary = 20
const int	xSubregionNum = 6
const int	yBoundary = 20
const int	ySubregionNum = 4

---

Function Documentation

static void download	(	const oclMat &	ocl_mat,
		vector< Point2f > &	vec
	)		[static]

Definition at line 72 of file featureTracking_ocl.cpp.

static void download	(	const oclMat &	ocl_mat,
		vector< unsigned char > &	vec
	)		[static]

Definition at line 79 of file featureTracking_ocl.cpp.

void imageDataHandler

(

const sensor_msgs::Image::ConstPtr &

imageData

)

Definition at line 86 of file featureTracking_ocl.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 259 of file featureTracking_ocl.cpp.

---

Variable Documentation

cv_bridge::CvImage bridge

Definition at line 70 of file featureTracking_ocl.cpp.

int detectionCount = 0

Definition at line 19 of file featureTracking_ocl.cpp.

const int detectionSkipNum = 3

Definition at line 20 of file featureTracking_ocl.cpp.

Mat dMat = Mat(4, 1, CV_64FC1, dImage)

Definition at line 33 of file featureTracking_ocl.cpp.

vector<Point2f>* featuresCur = new vector<Point2f>()

Definition at line 54 of file featureTracking_ocl.cpp.

vector<int> featuresInd

Definition at line 60 of file featureTracking_ocl.cpp.

int featuresIndFromStart = 0

Definition at line 59 of file featureTracking_ocl.cpp.

vector<Point2f>* featuresLast = new vector<Point2f>()

Definition at line 55 of file featureTracking_ocl.cpp.

vector<unsigned char> featuresStatus

Definition at line 57 of file featureTracking_ocl.cpp.

vector<Point2f> featuresSub

Definition at line 56 of file featureTracking_ocl.cpp.

Mat harrisLast

Definition at line 29 of file featureTracking_ocl.cpp.

Mat image0

Definition at line 27 of file featureTracking_ocl.cpp.

Mat image1

Definition at line 27 of file featureTracking_ocl.cpp.

pcl::PointCloud<ImagePoint>::Ptr imagePointsCur(new pcl::PointCloud< ImagePoint >())

pcl::PointCloud<ImagePoint>::Ptr imagePointsLast(new pcl::PointCloud< ImagePoint >())

ros::Publisher* imagePointsLastPubPointer

Definition at line 68 of file featureTracking_ocl.cpp.

Mat imageShow

Definition at line 29 of file featureTracking_ocl.cpp.

ros::Publisher* imageShowPubPointer

Definition at line 69 of file featureTracking_ocl.cpp.

bool isOddFrame = true

Definition at line 15 of file featureTracking_ocl.cpp.

Mat kMat = Mat(3, 3, CV_64FC1, kImage)

Definition at line 32 of file featureTracking_ocl.cpp.

Mat mapx

Definition at line 35 of file featureTracking_ocl.cpp.

Mat mapy

Definition at line 35 of file featureTracking_ocl.cpp.

const int MAXFEATURENUM = maxFeatureNumPerSubregion * totalSubregionNum

Definition at line 41 of file featureTracking_ocl.cpp.

const int maxFeatureNumPerSubregion = 20

Definition at line 37 of file featureTracking_ocl.cpp.

const double maxTrackDis = 100

Definition at line 48 of file featureTracking_ocl.cpp.

GoodFeaturesToTrackDetector_OCL oclFeatureDetector

Definition at line 51 of file featureTracking_ocl.cpp.

oclMat oclHarrisLast

Definition at line 30 of file featureTracking_ocl.cpp.

oclMat oclImage0

Definition at line 28 of file featureTracking_ocl.cpp.

oclMat oclImage1

Definition at line 28 of file featureTracking_ocl.cpp.

oclMat oclImageShow

Definition at line 30 of file featureTracking_ocl.cpp.

PyrLKOpticalFlow oclOpticalFlow

Definition at line 52 of file featureTracking_ocl.cpp.

int showCount = 0

Definition at line 22 of file featureTracking_ocl.cpp.

const int showDSRate = 2

Definition at line 24 of file featureTracking_ocl.cpp.

Size showSize = Size(imageWidth / showDSRate, imageHeight / showDSRate)

Definition at line 25 of file featureTracking_ocl.cpp.

const int showSkipNum = 2

Definition at line 23 of file featureTracking_ocl.cpp.

int subregionFeatureNum[2 *totalSubregionNum] = {0}

Definition at line 63 of file featureTracking_ocl.cpp.

const double subregionHeight = (double)(imageHeight - 2 * yBoundary) / (double)ySubregionNum

Definition at line 46 of file featureTracking_ocl.cpp.

const double subregionWidth = (double)(imageWidth - 2 * xBoundary) / (double)xSubregionNum

Definition at line 45 of file featureTracking_ocl.cpp.

bool systemInited = false

Definition at line 14 of file featureTracking_ocl.cpp.

double timeCur

Definition at line 17 of file featureTracking_ocl.cpp.

double timeLast

Definition at line 17 of file featureTracking_ocl.cpp.

int totalFeatureNum = 0

Definition at line 62 of file featureTracking_ocl.cpp.

const int totalSubregionNum = xSubregionNum * ySubregionNum

Definition at line 40 of file featureTracking_ocl.cpp.

const int winSize = 21

Definition at line 49 of file featureTracking_ocl.cpp.

const int xBoundary = 20

Definition at line 43 of file featureTracking_ocl.cpp.

const int xSubregionNum = 6

Definition at line 38 of file featureTracking_ocl.cpp.

const int yBoundary = 20

Definition at line 44 of file featureTracking_ocl.cpp.

const int ySubregionNum = 4

Definition at line 39 of file featureTracking_ocl.cpp.