Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
FillHolesAlgNode Class Reference

IRI ROS Specific Algorithm Class. More...

#include <fill_holes_alg_node.h>

Inheritance diagram for FillHolesAlgNode:
Inheritance graph

List of all members.

Public Member Functions

 FillHolesAlgNode (void)
 ~FillHolesAlgNode (void)

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


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.


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.

configan object with new configuration from all algorithm parameters defined in the config file.
levelinteger 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.

Member Data Documentation

Definition at line 58 of file fill_holes_alg_node.h.

Definition at line 56 of file fill_holes_alg_node.h.

sensor_msgs::Image FillHolesAlgNode::Image_msg_ [private]

Definition at line 53 of file fill_holes_alg_node.h.

Definition at line 52 of file fill_holes_alg_node.h.

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

Author(s): David Martinez
autogenerated on Fri Dec 6 2013 22:43:26