cam_detection_alg_node.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _cam_detection_alg_node_h_
00026 #define _cam_detection_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "cam_detection_alg.h"
00030 
00031 //IRI external library
00032 #include "camera_people_detector.h"
00033 
00034 //required headers for image I/O
00035 #include <image_transport/image_transport.h>
00036 #include <cv_bridge/cv_bridge.h>
00037 #include <sensor_msgs/image_encodings.h>
00038 #include <opencv2/imgproc/imgproc.hpp>
00039 #include <opencv2/highgui/highgui.hpp>
00040 
00041 // [publisher subscriber headers]
00042 #include <iri_perception_msgs/img_detection.h>
00043 
00044 // [service client headers]
00045 
00046 // [action server client headers]
00047 
00052 class CamDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<CamDetectionAlgorithm>
00053 {
00054   private:
00055 
00056     // [publisher attributes]
00057     ros::Publisher detection_publisher_;
00058     image_transport::Publisher debug_img_publisher_;
00059 
00060     // [subscriber attributes]
00061     image_transport::ImageTransport it_;
00062     image_transport::CameraSubscriber cam_sub_;
00063     void image_callback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);
00064 
00065     // [service attributes]
00066 
00067     // [client attributes]
00068 
00069     // [action server attributes]
00070 
00071     // [action client attributes]
00072 
00073     CCam_detection cam_detector_;
00074     cv_bridge::CvImagePtr cv_ptr_;
00075     float width_resize_;
00076     float height_resize_;
00077 
00078   public:
00085     CamDetectionAlgNode(void);
00086 
00093     ~CamDetectionAlgNode(void);
00094 
00095   protected:
00108     void mainNodeThread(void);
00109 
00122     void node_config_update(Config &config, uint32_t level);
00123 
00130     void addNodeDiagnostics(void);
00131 
00132     // [diagnostic functions]
00133     
00134     // [test functions]
00135 };
00136 
00137 #endif


iri_cam_detection
Author(s):
autogenerated on Fri Dec 6 2013 20:19:06