IRI ROS Specific Algorithm Class. More...

#include <textile_count_alg_node.h>

Inheritance diagram for TextileCountAlgNode:

Public Member Functions
	TextileCountAlgNode (void)
	Constructor.
	~TextileCountAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	floodfillCount (cv::Mat &image)
void	histCount (cv::Mat &image)
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	input_raw_image_callback (const sensor_msgs::Image::ConstPtr &msg)
Private Attributes
int	floodfill_min_area
int	floodfill_seed_num
int	floodfill_threshold
sensor_msgs::Image	Image_msg_
CMutex	input_raw_image_mutex_
ros::Subscriber	input_raw_image_subscriber_
ros::Publisher	objects_found_publisher_
ros::Publisher	output_img_publisher_
double	rubbish_threshold_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 52 of file textile_count_alg_node.h.

Constructor & Destructor Documentation

TextileCountAlgNode::TextileCountAlgNode ( void )

Constructor.

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

Definition at line 6 of file textile_count_alg_node.cpp.

TextileCountAlgNode::~TextileCountAlgNode ( void )

Destructor.

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

Definition at line 28 of file textile_count_alg_node.cpp.

Member Function Documentation

void TextileCountAlgNode::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< TextileCountAlgorithm >.

Definition at line 255 of file textile_count_alg_node.cpp.

void TextileCountAlgNode::floodfillCount ( cv::Mat & image ) [protected]

void TextileCountAlgNode::histCount ( cv::Mat & image ) [protected]

Detect edges using canny

Find contours

Get the moments

Get the mass centers:

Draw contours

Definition at line 104 of file textile_count_alg_node.cpp.

void TextileCountAlgNode::input_raw_image_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 48 of file textile_count_alg_node.cpp.

void TextileCountAlgNode::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< TextileCountAlgorithm >.

Definition at line 33 of file textile_count_alg_node.cpp.

void TextileCountAlgNode::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< TextileCountAlgorithm >.

Definition at line 245 of file textile_count_alg_node.cpp.