#include <math.h>#include <stdio.h>#include <stdlib.h>#include <ros/ros.h>#include "cameraParameters.h"#include "pointDefinition.h"
Go to the source code of this file.
Functions | |
| void | imageDataHandler (const sensor_msgs::Image::ConstPtr &imageData) |
| pcl::PointCloud< ImagePoint >::Ptr | imagePointsCur (new pcl::PointCloud< ImagePoint >()) |
| pcl::PointCloud< ImagePoint >::Ptr | imagePointsLast (new pcl::PointCloud< ImagePoint >()) |
| int | main (int argc, char **argv) |
Variables | |
| cv_bridge::CvImage | bridge |
| CvMat | dMat = cvMat(4, 1, CV_64FC1, dImage) |
| CvPoint2D32f * | featuresCur = new CvPoint2D32f[2 * MAXFEATURENUM] |
| float | featuresError [2 *MAXFEATURENUM] |
| char | featuresFound [2 *MAXFEATURENUM] |
| int | featuresInd [2 *MAXFEATURENUM] = {0} |
| int | featuresIndFromStart = 0 |
| CvPoint2D32f * | featuresLast = new CvPoint2D32f[2 * MAXFEATURENUM] |
| IplImage * | harrisLast = cvCreateImage(showSize, IPL_DEPTH_32F, 1) |
| IplImage * | imageCur = cvCreateImage(imgSize, IPL_DEPTH_8U, 1) |
| IplImage * | imageEig |
| IplImage * | imageLast = cvCreateImage(imgSize, IPL_DEPTH_8U, 1) |
| const int | imagePixelNum = imageHeight * imageWidth |
| ros::Publisher * | imagePointsLastPubPointer |
| IplImage * | imageShow = cvCreateImage(showSize, IPL_DEPTH_8U, 1) |
| ros::Publisher * | imageShowPubPointer |
| IplImage * | imageTmp |
| CvSize | imgSize = cvSize(imageWidth, imageHeight) |
| CvMat | kMat = cvMat(3, 3, CV_64FC1, kImage) |
| IplImage * | mapx |
| IplImage * | mapy |
| const int | MAXFEATURENUM = maxFeatureNumPerSubregion * totalSubregionNum |
| const int | maxFeatureNumPerSubregion = 2 |
| const double | maxTrackDis = 100 |
| IplImage * | pyrCur |
| IplImage * | pyrLast |
| int | showCount = 0 |
| const int | showDSRate = 2 |
| CvSize | showSize = cvSize(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 = 15 |
| const int | xBoundary = 20 |
| const int | xSubregionNum = 12 |
| const int | yBoundary = 20 |
| const int | ySubregionNum = 8 |
Function Documentation
| void imageDataHandler | ( | const sensor_msgs::Image::ConstPtr & | imageData | ) |
Definition at line 68 of file featureTracking.cpp.
| pcl::PointCloud<ImagePoint>::Ptr imagePointsCur | ( | new pcl::PointCloud< ImagePoint > | () | ) |
| pcl::PointCloud<ImagePoint>::Ptr imagePointsLast | ( | new pcl::PointCloud< ImagePoint > | () | ) |
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 214 of file featureTracking.cpp.
Variable Documentation
Definition at line 66 of file featureTracking.cpp.
Definition at line 30 of file featureTracking.cpp.
| CvPoint2D32f* featuresCur = new CvPoint2D32f[2 * MAXFEATURENUM] |
Definition at line 50 of file featureTracking.cpp.
| float featuresError[2 *MAXFEATURENUM] |
Definition at line 53 of file featureTracking.cpp.
| char featuresFound[2 *MAXFEATURENUM] |
Definition at line 52 of file featureTracking.cpp.
| int featuresInd[2 *MAXFEATURENUM] = {0} |
Definition at line 56 of file featureTracking.cpp.
| int featuresIndFromStart = 0 |
Definition at line 55 of file featureTracking.cpp.
| CvPoint2D32f* featuresLast = new CvPoint2D32f[2 * MAXFEATURENUM] |
Definition at line 51 of file featureTracking.cpp.
| IplImage* harrisLast = cvCreateImage(showSize, IPL_DEPTH_32F, 1) |
Definition at line 27 of file featureTracking.cpp.
Definition at line 18 of file featureTracking.cpp.
| IplImage* imageEig |
Definition at line 48 of file featureTracking.cpp.
Definition at line 19 of file featureTracking.cpp.
| const int imagePixelNum = imageHeight * imageWidth |
Definition at line 15 of file featureTracking.cpp.
Definition at line 64 of file featureTracking.cpp.
Definition at line 26 of file featureTracking.cpp.
Definition at line 65 of file featureTracking.cpp.
| IplImage * imageTmp |
Definition at line 48 of file featureTracking.cpp.
| CvSize imgSize = cvSize(imageWidth, imageHeight) |
Definition at line 16 of file featureTracking.cpp.
Definition at line 29 of file featureTracking.cpp.
| IplImage* mapx |
Definition at line 32 of file featureTracking.cpp.
| IplImage * mapy |
Definition at line 32 of file featureTracking.cpp.
| const int MAXFEATURENUM = maxFeatureNumPerSubregion * totalSubregionNum |
Definition at line 38 of file featureTracking.cpp.
| const int maxFeatureNumPerSubregion = 2 |
Definition at line 34 of file featureTracking.cpp.
| const double maxTrackDis = 100 |
Definition at line 45 of file featureTracking.cpp.
| IplImage * pyrCur |
Definition at line 48 of file featureTracking.cpp.
| IplImage * pyrLast |
Definition at line 48 of file featureTracking.cpp.
| int showCount = 0 |
Definition at line 21 of file featureTracking.cpp.
| const int showDSRate = 2 |
Definition at line 23 of file featureTracking.cpp.
| CvSize showSize = cvSize(imageWidth / showDSRate, imageHeight / showDSRate) |
Definition at line 24 of file featureTracking.cpp.
| const int showSkipNum = 2 |
Definition at line 22 of file featureTracking.cpp.
| int subregionFeatureNum[2 *totalSubregionNum] = {0} |
Definition at line 59 of file featureTracking.cpp.
| const double subregionHeight = (double)(imageHeight - 2 * yBoundary) / (double)ySubregionNum |
Definition at line 43 of file featureTracking.cpp.
| const double subregionWidth = (double)(imageWidth - 2 * xBoundary) / (double)xSubregionNum |
Definition at line 42 of file featureTracking.cpp.
| bool systemInited = false |
Definition at line 12 of file featureTracking.cpp.
| double timeCur |
Definition at line 13 of file featureTracking.cpp.
| double timeLast |
Definition at line 13 of file featureTracking.cpp.
| int totalFeatureNum = 0 |
Definition at line 58 of file featureTracking.cpp.
| const int totalSubregionNum = xSubregionNum * ySubregionNum |
Definition at line 37 of file featureTracking.cpp.
| const int winSize = 15 |
Definition at line 46 of file featureTracking.cpp.
| const int xBoundary = 20 |
Definition at line 40 of file featureTracking.cpp.
| const int xSubregionNum = 12 |
Definition at line 35 of file featureTracking.cpp.
| const int yBoundary = 20 |
Definition at line 41 of file featureTracking.cpp.
| const int ySubregionNum = 8 |
Definition at line 36 of file featureTracking.cpp.