#include <motion_detection.h>

Public Types
typedef std::vector< cv::KeyPoint >	KeyPoints
Public Member Functions
	MotionDetection ()
	~MotionDetection ()
Private Member Functions
void	colorizeDepth (const cv::Mat &gray, cv::Mat &rgb) const
void	computeOpticalFlow (const cv::Mat &prev_img, const cv::Mat &cur_img, cv::Mat &optical_flow, bool use_initial_flow=false, bool filter=false) const
void	computeOpticalFlowMagnitude (const cv::Mat &optical_flow, cv::Mat &optical_flow_mag) const
void	detectBlobs (const cv::Mat &img, KeyPoints &keypoints) const
void	drawBlobs (cv::Mat &img, const KeyPoints &keypoints, double scale=1.0) const
void	drawOpticalFlowVectors (cv::Mat &img, const cv::Mat &optical_flow, int step=10, const cv::Scalar &color=CV_RGB(0, 255, 0)) const
void	dynRecParamCallback (MotionDetectionConfig &config, uint32_t level)
void	imageCallback (const sensor_msgs::ImageConstPtr &img)
void	update (const ros::TimerEvent &event)
Private Attributes
image_transport::CameraSubscriber	camera_sub_
dynamic_reconfigure::Server < MotionDetectionConfig >	dyn_rec_server_
std::list< cv::Mat >	flow_history
image_transport::CameraPublisher	image_detected_pub_
image_transport::CameraPublisher	image_motion_pub_
ros::Publisher	image_percept_pub_
image_transport::Subscriber	image_sub_
cv_bridge::CvImageConstPtr	img_prev_col_ptr_
cv_bridge::CvImageConstPtr	img_prev_ptr_
sensor_msgs::ImageConstPtr	last_img
int	motion_detect_dilation_size_
double	motion_detect_downscale_factor_
int	motion_detect_flow_history_size_
bool	motion_detect_image_flow_filter_
double	motion_detect_inv_sensivity_
double	motion_detect_min_area_
double	motion_detect_min_blob_dist_
int	motion_detect_threshold_
bool	motion_detect_use_initial_flow_
cv::Mat	optical_flow
std::string	percept_class_id_
ros::Timer	update_timer

Detailed Description

Definition at line 28 of file motion_detection.h.

Member Typedef Documentation

typedef std::vector<cv::KeyPoint> MotionDetection::KeyPoints

Definition at line 34 of file motion_detection.h.

Constructor & Destructor Documentation

MotionDetection::MotionDetection ( )

Definition at line 3 of file motion_detection.cpp.

MotionDetection::~MotionDetection ( )

Definition at line 27 of file motion_detection.cpp.

Member Function Documentation

void MotionDetection::colorizeDepth	(	const cv::Mat &	gray,
		cv::Mat &	rgb
	)		const `[private]`

Definition at line 31 of file motion_detection.cpp.

void MotionDetection::computeOpticalFlow	(	const cv::Mat &	prev_img,
		const cv::Mat &	cur_img,
		cv::Mat &	optical_flow,
		bool	use_initial_flow = `false`,
		bool	filter = `false`
	)		const `[private]`

Definition at line 93 of file motion_detection.cpp.

void MotionDetection::computeOpticalFlowMagnitude	(	const cv::Mat &	optical_flow,
		cv::Mat &	optical_flow_mag
	)		const `[private]`

Definition at line 135 of file motion_detection.cpp.

void MotionDetection::detectBlobs	(	const cv::Mat &	img,
		KeyPoints &	keypoints
	)		const `[private]`

Definition at line 171 of file motion_detection.cpp.

void MotionDetection::drawBlobs	(	cv::Mat &	img,
		const KeyPoints &	keypoints,
		double	scale = `1.0`
	)		const `[private]`

Definition at line 150 of file motion_detection.cpp.

void MotionDetection::drawOpticalFlowVectors	(	cv::Mat &	img,
		const cv::Mat &	optical_flow,
		int	step = `10`,
		const cv::Scalar &	color = `CV_RGB(0, 255, 0)`
	)		const `[private]`