IRI ROS Specific Algorithm Class. More...

#include <morphological_op_alg_node.h>

Inheritance diagram for MorphologicalOpAlgNode:

Public Member Functions
	MorphologicalOpAlgNode (void)
	Constructor.
	~MorphologicalOpAlgNode (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	add_gradient_to_image (cv::Mat image, cv::Mat element)
void	image_in_callback (const sensor_msgs::Image::ConstPtr &msg)
cv::Mat	processImage (cv::Mat image)
Private Attributes
CMutex	image_in_mutex_
ros::Subscriber	image_in_subscriber_
sensor_msgs::Image	Image_msg_
ros::Publisher	image_out_publisher_
int	morph_element_size
std::string	morph_operation
int	morph_val_reduction
std::string	structuring_element_shape

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 48 of file morphological_op_alg_node.h.

Constructor & Destructor Documentation

MorphologicalOpAlgNode::MorphologicalOpAlgNode ( void )

Constructor.

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

Definition at line 5 of file morphological_op_alg_node.cpp.

MorphologicalOpAlgNode::~MorphologicalOpAlgNode ( void )

Destructor.

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

Definition at line 26 of file morphological_op_alg_node.cpp.

Member Function Documentation

cv::Mat MorphologicalOpAlgNode::add_gradient_to_image	(	cv::Mat	image,
		cv::Mat	element
	)		`[private]`

Remove border

Detect edges using Threshold

Find contours

Find the convex hull object for each contour

Draw contours + hull results

dst now is gradient without external border

Definition at line 139 of file morphological_op_alg_node.cpp.

void MorphologicalOpAlgNode::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< MorphologicalOpAlgorithm >.

Definition at line 205 of file morphological_op_alg_node.cpp.

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

Definition at line 45 of file morphological_op_alg_node.cpp.

void MorphologicalOpAlgNode::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< MorphologicalOpAlgorithm >.

Definition at line 31 of file morphological_op_alg_node.cpp.

void MorphologicalOpAlgNode::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< MorphologicalOpAlgorithm >.

Definition at line 190 of file morphological_op_alg_node.cpp.

cv::Mat MorphologicalOpAlgNode::processImage ( cv::Mat image ) [private]

Definition at line 82 of file morphological_op_alg_node.cpp.