VisualCompass Class Reference

List of all members.

Public Member Functions
	VisualCompass ()
	~VisualCompass ()
Private Member Functions
std::pair< double, double >	corel_row (const Mat &I, const Mat &J)
double	deg2rad (double deg)
void	imageCb (const sensor_msgs::ImageConstPtr &Image)
Private Attributes
double	angle_deg
	Total angle measured from the start of computing in degrees.
std::string	compass_image
	Name of the subsribed topic.
std::string	compass_output_topic
	Name of the published topic.
ros::Time	current_time
double	dt
	delta time, time difference
Mat	I
	The opencv matrix for the actual image.
image_transport::Subscriber	image_sub_
image_transport::ImageTransport	it_
Mat	J
	The opencv matrix for the last image.
ros::Time	last_time
ros::NodeHandle	nh_
ros::Publisher	odom_pub
bool	textout
	Turns on the text output to the console.
Static Private Attributes
static const int	computed_rows = down-up
	computed rows of the ROI
static const int	down = 45
	downer threshold of ROI
static const int	up = 25
	upper threshold of ROI

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Detailed Description

computes the horizontal rotation between two images.

Definition at line 31 of file compass.cpp.

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Constructor & Destructor Documentation

VisualCompass::VisualCompass

(

)

[inline]

Constructor that loads the ROS parameters, subsribes to the camera topic and advertise odometry topic.

Parameters:

compass_image	defines the input panorama topic
compass_output_topic	defines the output odometry topic
compass_textout	sets the text output to the console on

Definition at line 57 of file compass.cpp.

VisualCompass::~VisualCompass

(

)

[inline]

Destructor

Definition at line 86 of file compass.cpp.

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Member Function Documentation

std::pair<double, double> VisualCompass::corel_row	(	const Mat &	I,
		const Mat &	J
	)		[inline, private]

Funtion that compares lines from two images and calculates their angle difference.

Parameters:

[in]

I,J

The opencv matrices containing the image line from the first and the second image.

Returns:

pair that contains angle in radians as a first element and the correlation coeficient as a second.

Definition at line 102 of file compass.cpp.

double VisualCompass::deg2rad

(

double

deg

)

[inline, private]

Function that converts degrees to radians.

Definition at line 92 of file compass.cpp.

void VisualCompass::imageCb

(

const sensor_msgs::ImageConstPtr &

Image

)

[inline, private]

The main routine that is executed everytime a new image occurs

Parameters:

[in]

Image

Panorama Image from the camera in the spherical or the cylindrical projection.

< mean angle

< sum of weights

Definition at line 144 of file compass.cpp.

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Member Data Documentation

double VisualCompass::angle_deg [private]

Total angle measured from the start of computing in degrees.

Definition at line 46 of file compass.cpp.

std::string VisualCompass::compass_image [private]

Name of the subsribed topic.

Definition at line 34 of file compass.cpp.

std::string VisualCompass::compass_output_topic [private]

Name of the published topic.

Definition at line 35 of file compass.cpp.

const int VisualCompass::computed_rows = down-up [static, private]

computed rows of the ROI

Definition at line 43 of file compass.cpp.

ros::Time VisualCompass::current_time [private]

Definition at line 47 of file compass.cpp.

const int VisualCompass::down = 45 [static, private]

downer threshold of ROI

Definition at line 42 of file compass.cpp.

double VisualCompass::dt [private]

delta time, time difference

Definition at line 37 of file compass.cpp.

Mat VisualCompass::I [private]

The opencv matrix for the actual image.

Definition at line 44 of file compass.cpp.

image_transport::Subscriber VisualCompass::image_sub_ [private]

Definition at line 39 of file compass.cpp.

image_transport::ImageTransport VisualCompass::it_ [private]

Definition at line 38 of file compass.cpp.

Mat VisualCompass::J [private]

The opencv matrix for the last image.

Definition at line 45 of file compass.cpp.

ros::Time VisualCompass::last_time [private]

Definition at line 47 of file compass.cpp.

ros::NodeHandle VisualCompass::nh_ [private]

Definition at line 33 of file compass.cpp.

ros::Publisher VisualCompass::odom_pub [private]

Definition at line 40 of file compass.cpp.

bool VisualCompass::textout [private]

Turns on the text output to the console.

Definition at line 36 of file compass.cpp.

const int VisualCompass::up = 25 [static, private]

upper threshold of ROI

Definition at line 41 of file compass.cpp.

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The documentation for this class was generated from the following file:

• compass.cpp