IRI ROS Specific Algorithm Class. More...

#include <human_assisted_object_detection_alg_node.h>

Inheritance diagram for HumanAssistedObjectDetectionAlgNode:

Public Member Functions
	HumanAssistedObjectDetectionAlgNode (void)
	Constructor.
	~HumanAssistedObjectDetectionAlgNode (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
bool	detectCallback (iri_human_assisted_object_detection::haod_detect::Request &req, iri_human_assisted_object_detection::haod_detect::Response &res)
void	face_detect_callback (const face_detector_mono::RectArray::ConstPtr &msg)
bool	initCallback (iri_human_assisted_object_detection::haod_init::Request &req, iri_human_assisted_object_detection::haod_init::Response &res)
void	input_image_callback (const sensor_msgs::Image::ConstPtr &msg)
bool	learnCallback (iri_human_assisted_object_detection::haod_learn::Request &req, iri_human_assisted_object_detection::haod_learn::Response &res)
Private Attributes
CMutex	detect_mutex_
ros::ServiceServer	detect_server_
CMutex	face_detect_mutex_
ros::Subscriber	face_detect_subscriber_
face_detector_mono::RectArray	face_rects
sensor_msgs::ImagePtr	Image_msg_
CMutex	init_mutex_
ros::ServiceServer	init_server_
sensor_msgs::ImageConstPtr	input_image
CMutex	input_image_mutex_
image_transport::Subscriber	input_image_subscriber_
image_transport::ImageTransport	it_
CMutex	learn_mutex_
ros::ServiceServer	learn_server_
image_transport::Publisher	output_image_publisher_
bool	receiving_detections
bool	receiving_images
cv::Rect	rect

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 49 of file human_assisted_object_detection_alg_node.h.

Constructor & Destructor Documentation

HumanAssistedObjectDetectionAlgNode::HumanAssistedObjectDetectionAlgNode ( void )

Constructor.

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

Definition at line 3 of file human_assisted_object_detection_alg_node.cpp.

HumanAssistedObjectDetectionAlgNode::~HumanAssistedObjectDetectionAlgNode ( void )

Destructor.

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

Definition at line 31 of file human_assisted_object_detection_alg_node.cpp.

Member Function Documentation

void HumanAssistedObjectDetectionAlgNode::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< HumanAssistedObjectDetectionAlgorithm >.

Definition at line 198 of file human_assisted_object_detection_alg_node.cpp.

bool HumanAssistedObjectDetectionAlgNode::detectCallback	(	iri_human_assisted_object_detection::haod_detect::Request &	req,
		iri_human_assisted_object_detection::haod_detect::Response &	res
	)		`[private]`

Definition at line 120 of file human_assisted_object_detection_alg_node.cpp.

void HumanAssistedObjectDetectionAlgNode::face_detect_callback ( const face_detector_mono::RectArray::ConstPtr & msg ) [private]

Definition at line 49 of file human_assisted_object_detection_alg_node.cpp.

bool HumanAssistedObjectDetectionAlgNode::initCallback	(	iri_human_assisted_object_detection::haod_init::Request &	req,
		iri_human_assisted_object_detection::haod_init::Response &	res
	)		`[private]`

Definition at line 149 of file human_assisted_object_detection_alg_node.cpp.

void HumanAssistedObjectDetectionAlgNode::input_image_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 78 of file human_assisted_object_detection_alg_node.cpp.

bool HumanAssistedObjectDetectionAlgNode::learnCallback	(	iri_human_assisted_object_detection::haod_learn::Request &	req,
		iri_human_assisted_object_detection::haod_learn::Response &	res
	)		`[private]`

Definition at line 102 of file human_assisted_object_detection_alg_node.cpp.

void HumanAssistedObjectDetectionAlgNode::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< HumanAssistedObjectDetectionAlgorithm >.

Definition at line 36 of file human_assisted_object_detection_alg_node.cpp.

void HumanAssistedObjectDetectionAlgNode::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< HumanAssistedObjectDetectionAlgorithm >.

Definition at line 191 of file human_assisted_object_detection_alg_node.cpp.