IRI ROS Specific Algorithm Class. More...

#include <fill_holes_alg_node.h>

Inheritance diagram for FillHolesAlgNode:

Public Member Functions
	FillHolesAlgNode (void)
	Constructor.
	~FillHolesAlgNode (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
cv::Mat	floodfillRemoval (cv::Mat image)
	filter for region removal
void	image_in_callback (const sensor_msgs::Image::ConstPtr &msg)
Private Attributes
CMutex	image_in_mutex_
ros::Subscriber	image_in_subscriber_
sensor_msgs::Image	Image_msg_
ros::Publisher	image_out_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file fill_holes_alg_node.h.

Constructor & Destructor Documentation

FillHolesAlgNode::FillHolesAlgNode ( void )

Constructor.

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

Definition at line 5 of file fill_holes_alg_node.cpp.

FillHolesAlgNode::~FillHolesAlgNode ( void )

Destructor.

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

Definition at line 27 of file fill_holes_alg_node.cpp.

Member Function Documentation

void FillHolesAlgNode::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< FillHolesAlgorithm >.

Definition at line 127 of file fill_holes_alg_node.cpp.

cv::Mat FillHolesAlgNode::floodfillRemoval ( cv::Mat image ) [private]

filter for region removal

The filter takes seed_num random seeds, and remove the floodfill region associated to them if it is bigger than min_area. uses gradient with floating(relative) range threshold

Detect edges using Threshold

Find contours

Find the convex hull object for each contour

Draw contours + hull results

Definition at line 84 of file fill_holes_alg_node.cpp.

void FillHolesAlgNode::image_in_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 46 of file fill_holes_alg_node.cpp.

void FillHolesAlgNode::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< FillHolesAlgorithm >.

Definition at line 32 of file fill_holes_alg_node.cpp.

void FillHolesAlgNode::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< FillHolesAlgorithm >.

Definition at line 117 of file fill_holes_alg_node.cpp.