#include <moving_object_filter.h>

Inheritance diagram for MovingObjectFilter:

Public Member Functions
	MovingObjectFilter (int argc, char **argv)
void	processData (const cv::Mat &image, const cv::Mat &depth, float fx, float fy, float cx, float cy)
void	setFrameId (std::string rgb_frame, std::string depth_frame)
Public Attributes
std::string	depth_frame_id
std::string	rgb_frame_id
Private Member Functions
cv::Mat	bgrFromCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, bool bgrOrder)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	cloudFromDepthRGB (const cv::Mat &imageRgb, const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation)
void	computeHomography (cv::Mat &grayImage)
cv::Mat	depthFromCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, float &fx, float &fy, bool depth16U)
cv::Mat	getDepth (cloud_type::ConstPtr cloud, const cv::Mat &depthImage, float cx, float cy, float fx, float fy)
void	getImage (cloud_type::ConstPtr cloud, const cv::Mat &image, float cx, float cy, float fx, float fy)
void	image_diff (const cv::Mat &image, cloud_type::ConstPtr cloud)
bool	image_extract_cluster (cloud_type::ConstPtr cluster_cloud, cloud_type::ConstPtr cloud, const cv::Mat &image, float cx, float cy, float fx, float fy, int num, int j)
pcl::PointCloud< pcl::PointXYZRGB >	objectFromOriginalCloud (cloud_type::ConstPtr clusterCloud, cloud_type::ConstPtr cloud)
cv::Mat	pcl_segmentation (cloud_type::ConstPtr cloud, const cv::Mat &image, const cv::Mat &depthImage, float cx, float cy, float fx, float fy)
pcl::PointXYZ	projectDepthTo3D (const cv::Mat &depthImage, float x, float y, float cx, float cy, float fx, float fy, bool smoothing, float maxZError=0.02f)
Private Attributes
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	cloud
ros::Publisher	cloudPub_
cv::Mat	currentFrame
ros::Publisher	depthPub_
cv::Mat	dynamicImage
cv::Mat	Homography
cv::Mat	lastBlurImage
cloud_type	lastCloud
cv::Mat	lastDepth
cv::Mat	lastFrame
cv::Mat	lastImage
int	num1
ros::Publisher	rgbPub_
double	threshod

Detailed Description

Definition at line 70 of file moving_object_filter.h.

Constructor & Destructor Documentation

MovingObjectFilter::MovingObjectFilter	(	int	argc,
		char **	argv
	)

Definition at line 18 of file moving_object_filter.cpp.

Member Function Documentation

cv::Mat MovingObjectFilter::bgrFromCloud	(	const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		bool	bgrOrder
	)		`[private]`

Definition at line 1245 of file moving_object_filter.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr MovingObjectFilter::cloudFromDepthRGB	(	const cv::Mat &	imageRgb,
		const cv::Mat &	imageDepth,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		int	decimation
	)		`[private]`

Definition at line 609 of file moving_object_filter.cpp.

void MovingObjectFilter::computeHomography ( cv::Mat & grayImage ) [private]

Definition at line 182 of file moving_object_filter.cpp.

cv::Mat MovingObjectFilter::depthFromCloud	(	const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		float &	fx,
		float &	fy,
		bool	depth16U
	)		`[private]`

Definition at line 1273 of file moving_object_filter.cpp.

cv::Mat MovingObjectFilter::getDepth	(	cloud_type::ConstPtr	cloud,
		const cv::Mat &	depthImage,
		float	cx,
		float	cy,
		float	fx,
		float	fy
	)		`[private]`

Definition at line 1139 of file moving_object_filter.cpp.

void MovingObjectFilter::getImage	(	cloud_type::ConstPtr	cloud,
		const cv::Mat &	image,
		float	cx,
		float	cy,
		float	fx,
		float	fy
	)		`[private]`

Definition at line 1179 of file moving_object_filter.cpp.

void MovingObjectFilter::image_diff	(	const cv::Mat &	image,
		cloud_type::ConstPtr	cloud
	)		`[private]`

Definition at line 302 of file moving_object_filter.cpp.

bool MovingObjectFilter::image_extract_cluster	(	cloud_type::ConstPtr	cluster_cloud,
		cloud_type::ConstPtr	cloud,
		const cv::Mat &	image,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		int	num,
		int	j
	)		`[private]`

Definition at line 967 of file moving_object_filter.cpp.

pcl::PointCloud< pcl::PointXYZRGB > MovingObjectFilter::objectFromOriginalCloud	(	cloud_type::ConstPtr	clusterCloud,
		cloud_type::ConstPtr	cloud
	)		`[private]`

Definition at line 1077 of file moving_object_filter.cpp.

cv::Mat MovingObjectFilter::pcl_segmentation	(	cloud_type::ConstPtr	cloud,
		const cv::Mat &	image,
		const cv::Mat &	depthImage,
		float	cx,
		float	cy,
		float	fx,
		float	fy
	)		`[private]`

Definition at line 674 of file moving_object_filter.cpp.

void MovingObjectFilter::processData	(	const cv::Mat &	image,
		const cv::Mat &	depth,
		float	fx,
		float	fy,
		float	cx,
		float	cy
	)

Definition at line 33 of file moving_object_filter.cpp.

pcl::PointXYZ MovingObjectFilter::projectDepthTo3D	(	const cv::Mat &	depthImage,
		float	x,
		float	y,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		bool	smoothing,
		float	maxZError = `0.02f`
	)		`[private]`