IRI ROS Specific Algorithm Class. More...

#include <floodfill_segmentation_alg_node.h>

Inheritance diagram for FloodfillSegmentationAlgNode:

Public Member Functions
	FloodfillSegmentationAlgNode (void)
	Constructor.
	~FloodfillSegmentationAlgNode (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)
	Floodfill filter for region removal.
void	image_in_callback (const sensor_msgs::Image::ConstPtr &msg)
Private Attributes
bool	colorspace_lab
int	floodfill_min_area
int	floodfill_seed_num
int	floodfill_threshold
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 floodfill_segmentation_alg_node.h.

Constructor & Destructor Documentation

FloodfillSegmentationAlgNode::FloodfillSegmentationAlgNode ( void )

Constructor.

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

Definition at line 5 of file floodfill_segmentation_alg_node.cpp.

FloodfillSegmentationAlgNode::~FloodfillSegmentationAlgNode ( void )

Destructor.

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

Definition at line 27 of file floodfill_segmentation_alg_node.cpp.

Member Function Documentation

void FloodfillSegmentationAlgNode::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< FloodfillSegmentationAlgorithm >.

Definition at line 158 of file floodfill_segmentation_alg_node.cpp.

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

Floodfill filter for region removal.

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

Definition at line 84 of file floodfill_segmentation_alg_node.cpp.

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

Definition at line 46 of file floodfill_segmentation_alg_node.cpp.

void FloodfillSegmentationAlgNode::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< FloodfillSegmentationAlgorithm >.

Definition at line 32 of file floodfill_segmentation_alg_node.cpp.

void FloodfillSegmentationAlgNode::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< FloodfillSegmentationAlgorithm >.

Definition at line 143 of file floodfill_segmentation_alg_node.cpp.