IRI ROS Specific Algorithm Class. More...

#include <remove_small_regions_alg_node.h>

Inheritance diagram for RemoveSmallRegionsAlgNode:

Public Member Functions
	RemoveSmallRegionsAlgNode (void)
	Constructor.
	~RemoveSmallRegionsAlgNode (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 border of the image.
Private Attributes
ros::Subscriber	image_in_subscriber_
sensor_msgs::Image	Image_msg_
ros::Publisher	image_out_publisher_
uint32_t	min_area_threshold
bool	remove_border_convex
CMutex	remove_border_in_mutex_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 50 of file remove_small_regions_alg_node.h.

Constructor & Destructor Documentation

RemoveSmallRegionsAlgNode::RemoveSmallRegionsAlgNode ( void )

Constructor.

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

Definition at line 6 of file remove_small_regions_alg_node.cpp.

RemoveSmallRegionsAlgNode::~RemoveSmallRegionsAlgNode ( void )

Destructor.

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

Definition at line 29 of file remove_small_regions_alg_node.cpp.

Member Function Documentation

void RemoveSmallRegionsAlgNode::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< RemoveSmallRegionsAlgorithm >.

Definition at line 129 of file remove_small_regions_alg_node.cpp.

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

Definition at line 49 of file remove_small_regions_alg_node.cpp.

void RemoveSmallRegionsAlgNode::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< RemoveSmallRegionsAlgorithm >.

Definition at line 35 of file remove_small_regions_alg_node.cpp.

void RemoveSmallRegionsAlgNode::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< RemoveSmallRegionsAlgorithm >.

Definition at line 117 of file remove_small_regions_alg_node.cpp.

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

Remove border of the image.

This method removes the border of the image

Detect edges using Threshold

Find contours

Definition at line 86 of file remove_small_regions_alg_node.cpp.