IRI ROS Specific Algorithm Class. More...

#include <open_door_detector_alg_node.h>

Inheritance diagram for OpenDoorDetectorAlgNode:

Public Member Functions
	OpenDoorDetectorAlgNode (void)
	Constructor.
	~OpenDoorDetectorAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
double	AngleBetweenLines (cv::Point point1, cv::Point point2, cv::Point point3, cv::Point point4)
	Angle between two lines.
void	DoorSizeCalibration (cv::Mat inputImage, double min_dst_h, double max_dst_h, double min_dst_v, double max_dst_v)
	Display door size limits.
void	DrawRect (cv::Mat inputImage, cv::Point q1, cv::Point q2, cv::Point q3, cv::Point q4, cv::Scalar color, int lineSize, int filled)
	Draw Quadrilateral.
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	door_action_start_callback (const std_msgs::Int8::ConstPtr &msg)
void	image_color_callback (const sensor_msgs::Image::ConstPtr &msg)
void	points_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
float	area_ratio
int	aspect
bool	Aspect_filter
double	b1
double	b2
cv::Point2d	b_c1
cv::Point2d	b_c2
cv::Point2d	b_c3
cv::Point2d	b_c4
float	b_depth
cv::Point2d	b_door_centroid
cv::Point2d	b_handle
cv::Scalar	black
cv::Point2d	c1
cv::Point2d	c2
cv::Point2d	c3
cv::Point2d	c4
cv::Point2d	c5
cv::Point2d	c6
cv::Point2d	c7
cv::Point2d	c8
int	captured_depth
int	check
pcl::PointCloud< pcl::PointXYZ >	cloud
std::vector< cv::Vec3b >	colorTab
int	count
int	cx_max
int	cx_min
int	cy_max
int	cy_min
float *	Da
int	debugging_images
cv_bridge::CvImagePtr	depth_raw
float *	Di
float *	Dii
float	distance_to_room
CMutex	door_action_start_mutex_
ros::Subscriber	door_action_start_subscriber_
ros::Publisher	door_centroid_publisher_
std_msgs::Int32MultiArray	door_coordinates
int	door_end
int	door_x
int	door_y
bool	DSC
double	dst
double	dst_down
double	dst_h
double	dst_left
double	dst_right
double	dst_up
double	dst_v
double	dx
double	dy
int	f_c1
int	f_c2
int	f_c3
int	f_c4
float	frame_left
float	frame_right
float	frame_up
int	frame_x
int	frame_y
bool	Geom_filter
int	geometry
int	idx
int	idx_left
int	idx_right
int	idx_top
char *	Ii
CMutex	image_color_mutex_
ros::Subscriber	image_color_subscriber_
std_msgs::Int32MultiArray	Int32MultiArray_msg_
int	jamb
float	left_depth
float	left_door_edge
int	left_door_end
int	lintel
double	m1
double	m2
float	max_depth
double	max_dst_h
double	max_dst_v
double	max_range
int	max_x
int	max_y
float	meters
float	min_depth
double	min_dst_h
double	min_dst_v
double	min_range
int	min_x
int	min_y
bool	no_simulator
int	offset_d
int	offset_l
int	offset_r
int	offset_u
ros::Publisher	open_door_coordinates_publisher_
cv_bridge::CvImagePtr	original
int	p_set
bool	Persp_filter
int	perspective
int	point
pcl::PointXYZ	point3D
CMutex	points_mutex_
ros::Subscriber	points_subscriber_
geometry_msgs::PoseStamped	poses
geometry_msgs::PoseStamped	PoseStamped_msg_
float	prev_depth
double	r
bool	Range_filter
float	right_depth
float	right_door_edge
int	right_door_end
cv::RNG	rng
int	roi_x
int	roi_y
float	room_door_ratio
int	room_frame_height
cv::Point2d	s_door_centroid
double	security_distance
int	sensor_range
bool	SFC
float	side
int	sill
int	size
bool	Size_filter
std::vector< cv::Point2d >	ss_c1
std::vector< cv::Point2d >	ss_c2
std::vector< cv::Point2d >	ss_c3
std::vector< cv::Point2d >	ss_c4
std::vector< float >	ss_depth
std::vector< cv::Point2d >	ss_door_centroid
int	start
double	step_x
double	step_y
int	support
bool	SVL
bool	SVP
double	theta
double	theta1
double	theta2
double	theta3
double	theta4
std::vector< cv::Point2d >	vec_down
size_t	vec_end
std::vector< cv::Point2d >	vec_left
std::vector< cv::Point2d >	vec_right
size_t	vec_start
std::vector< cv::Point2d >	vec_up
cv::Scalar	white
float	x
float	x_1
float	x_2
float	x_i
float	x_left
float	x_right
float	y
float	y_1
float	y_2
float	y_i
float	y_top
float	z
float	z_i

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 69 of file open_door_detector_alg_node.h.

Constructor & Destructor Documentation

OpenDoorDetectorAlgNode::OpenDoorDetectorAlgNode ( void )

Constructor.

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

Definition at line 9 of file open_door_detector_alg_node.cpp.

OpenDoorDetectorAlgNode::~OpenDoorDetectorAlgNode ( void )

Destructor.

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

Definition at line 49 of file open_door_detector_alg_node.cpp.

Member Function Documentation

void OpenDoorDetectorAlgNode::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< OpenDoorDetectorAlgorithm >.

Definition at line 1306 of file open_door_detector_alg_node.cpp.

double OpenDoorDetectorAlgNode::AngleBetweenLines	(	cv::Point	point1,
		cv::Point	point2,
		cv::Point	point3,
		cv::Point	point4
	)		`[protected]`

Angle between two lines.

Return minimum angle between two lines in radians

Definition at line 1361 of file open_door_detector_alg_node.cpp.

void OpenDoorDetectorAlgNode::door_action_start_callback ( const std_msgs::Int8::ConstPtr & msg ) [private]

Definition at line 69 of file open_door_detector_alg_node.cpp.

void OpenDoorDetectorAlgNode::DoorSizeCalibration	(	cv::Mat	inputImage,
		double	min_dst_h,
		double	max_dst_h,
		double	min_dst_v,
		double	max_dst_v
	)		`[protected]`

Display door size limits.

Display current door limits in inputImage in order to modify these parameters based on visual feedback

Definition at line 1317 of file open_door_detector_alg_node.cpp.

void OpenDoorDetectorAlgNode::DrawRect	(	cv::Mat	inputImage,
		cv::Point	q1,
		cv::Point	q2,
		cv::Point	q3,
		cv::Point	q4,
		cv::Scalar	color,
		int	lineSize,
		int	filled
	)		`[protected]`

Draw Quadrilateral.

Draw a Quadrilateral shape on inputImage given 4 cvPoint coordinates in clockwise order. If filled == 0 4 lines are drawn. If filled == 1 a filled quadrilateral is drawn

Definition at line 1337 of file open_door_detector_alg_node.cpp.

void OpenDoorDetectorAlgNode::image_color_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 95 of file open_door_detector_alg_node.cpp.

void OpenDoorDetectorAlgNode::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< OpenDoorDetectorAlgorithm >.

Definition at line 54 of file open_door_detector_alg_node.cpp.

void OpenDoorDetectorAlgNode::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< OpenDoorDetectorAlgorithm >.

Definition at line 1282 of file open_door_detector_alg_node.cpp.

void OpenDoorDetectorAlgNode::points_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 124 of file open_door_detector_alg_node.cpp.