IRI ROS Specific Algorithm Class. More...

#include <remove_background_alg_node.h>

Inheritance diagram for RemoveBackgroundAlgNode:

Public Member Functions
	RemoveBackgroundAlgNode (void)
	Constructor.
	~RemoveBackgroundAlgNode (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
void	image_in_callback (const sensor_msgs::Image::ConstPtr &msg)
cv::Mat	processImage (cv::Mat image)
	Remove background using OpenCV filtering.
bool	set_background_imageCallback (iri_perception_msgs::SetImage::Request &req, iri_perception_msgs::SetImage::Response &res)
Private Attributes
cv::Mat	background_image_
uint8_t	binarize_threshold_
bool	has_background_
CMutex	image_in_mutex_
ros::Subscriber	image_in_subscriber_
sensor_msgs::Image	Image_msg_
ros::Publisher	image_out_publisher_
CMutex	set_background_image_mutex_
ros::ServiceServer	set_background_image_server_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 50 of file remove_background_alg_node.h.

Constructor & Destructor Documentation

RemoveBackgroundAlgNode::RemoveBackgroundAlgNode ( void )

Constructor.

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

Definition at line 6 of file remove_background_alg_node.cpp.

RemoveBackgroundAlgNode::~RemoveBackgroundAlgNode ( void )

Destructor.

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

Definition at line 31 of file remove_background_alg_node.cpp.

Member Function Documentation

void RemoveBackgroundAlgNode::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< RemoveBackgroundAlgorithm >.

Definition at line 147 of file remove_background_alg_node.cpp.

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

Definition at line 50 of file remove_background_alg_node.cpp.

void RemoveBackgroundAlgNode::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< RemoveBackgroundAlgorithm >.

Definition at line 36 of file remove_background_alg_node.cpp.

void RemoveBackgroundAlgNode::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< RemoveBackgroundAlgorithm >.

Definition at line 135 of file remove_background_alg_node.cpp.

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

Remove background using OpenCV filtering.

Remove background using OpenCV. First image is saved as background, and after that one it returns the differences with all images

Definition at line 110 of file remove_background_alg_node.cpp.

bool RemoveBackgroundAlgNode::set_background_imageCallback	(	iri_perception_msgs::SetImage::Request &	req,
		iri_perception_msgs::SetImage::Response &	res
	)		`[private]`