IRI ROS Specific Algorithm Class. More...

#include <camera_people_detection_alg_node.h>

Inheritance diagram for CameraPeopleDetectionAlgNode:

Public Member Functions
	CameraPeopleDetectionAlgNode (void)
	Constructor.
	~CameraPeopleDetectionAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	fillMarkerArray (const iri_perception_msgs::detectionArray &fusion_poses_msg, visualization_msgs::MarkerArray &markerArray_msg)
void	filterLaserDetections (iri_perception_msgs::detectionArray &fusion_poses_msg, cv_bridge::CvImage &img_msg)
void	image_callback (const sensor_msgs::ImageConstPtr &image_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	laser_callback (const sensor_msgs::LaserScan::ConstPtr &msg)
void	people_detection_callback (const iri_perception_msgs::detectionArray::ConstPtr &msg)
void	tracker_callback (const iri_perception_msgs::peopleTrackingArray::ConstPtr &msg)
Private Attributes
CCamera_People_Detector	cam_detector_
image_geometry::PinholeCameraModel	cam_model_
image_transport::CameraSubscriber	cam_sub_
cv_bridge::CvImagePtr	cv_ptr_
image_transport::Publisher	debug_img_publisher_
CEventServer *	event_server_
float	height_resize_
ros::Publisher	image_detection_publisher_
CMutex	image_mutex_
image_transport::ImageTransport	it_
CMutex	laser_mutex_
iri_perception_msgs::detectionArray	laser_poses_msg_
ros::Subscriber	laser_subscriber_
ros::Publisher	markers_publisher_
double	minthr_
std::string	new_image_event_id_
std::string	new_laser_event_id_
std::string	new_tracker_event_id_
CMutex	people_detection_mutex_
ros::Subscriber	people_detection_subscriber_
sensor_msgs::LaserScan	scan_
tf::TransformListener	tf_listener_
iri_perception_msgs::peopleTrackingArray	tracker_msg_
CMutex	tracker_mutex_
ros::Subscriber	tracker_subscriber_
float	width_resize_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 68 of file camera_people_detection_alg_node.h.

Constructor & Destructor Documentation

CameraPeopleDetectionAlgNode::CameraPeopleDetectionAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file camera_people_detection_alg_node.cpp.

CameraPeopleDetectionAlgNode::~CameraPeopleDetectionAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 42 of file camera_people_detection_alg_node.cpp.

Member Function Documentation

void CameraPeopleDetectionAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< CameraPeopleDetectionAlgorithm >.

Definition at line 412 of file camera_people_detection_alg_node.cpp.

void CameraPeopleDetectionAlgNode::fillMarkerArray	(	const iri_perception_msgs::detectionArray &	fusion_poses_msg,
		visualization_msgs::MarkerArray &	markerArray_msg
	)		`[private]`

Definition at line 47 of file camera_people_detection_alg_node.cpp.

void CameraPeopleDetectionAlgNode::filterLaserDetections	(	iri_perception_msgs::detectionArray &	fusion_poses_msg,
		cv_bridge::CvImage &	img_msg
	)		`[private]`

Definition at line 100 of file camera_people_detection_alg_node.cpp.

void CameraPeopleDetectionAlgNode::image_callback	(	const sensor_msgs::ImageConstPtr &	image_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)		`[private]`

Definition at line 370 of file camera_people_detection_alg_node.cpp.

void CameraPeopleDetectionAlgNode::laser_callback ( const sensor_msgs::LaserScan::ConstPtr & msg ) [private]

Definition at line 339 of file camera_people_detection_alg_node.cpp.

void CameraPeopleDetectionAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< CameraPeopleDetectionAlgorithm >.

Definition at line 267 of file camera_people_detection_alg_node.cpp.

void CameraPeopleDetectionAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< CameraPeopleDetectionAlgorithm >.

Definition at line 400 of file camera_people_detection_alg_node.cpp.

void CameraPeopleDetectionAlgNode::people_detection_callback ( const iri_perception_msgs::detectionArray::ConstPtr & msg ) [private]

Definition at line 356 of file camera_people_detection_alg_node.cpp.

void CameraPeopleDetectionAlgNode::tracker_callback ( const iri_perception_msgs::peopleTrackingArray::ConstPtr & msg ) [private]

Definition at line 316 of file camera_people_detection_alg_node.cpp.