IRI ROS Specific Algorithm Class. More...

#include <iri_clothes_grasping_point_alg_node.h>

Inheritance diagram for IriClothesGraspingPointAlgNode:

Public Member Functions
	IriClothesGraspingPointAlgNode (void)
	Constructor.
	~IriClothesGraspingPointAlgNode (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	binaryObjectSelection (const cv::Mat labelled_image, cv::Mat &binary_image, unsigned char Red, unsigned char Green, unsigned char Blue)
void	count_labels (cv::Mat labelled_image, std::set< unsigned int > &labels)
void	draw_clothes_centers (cv::Mat &src_img)
void	draw_contours_center (cv::Mat binary_img, cv::Mat &color_output)
void	draw_intersections (cv::Mat &src_img)
void	image_callback (const sensor_msgs::ImageConstPtr &msg)
void	image_from_pcl2 (cv::Mat &rgb_image)
void	image_processing (const cv::Mat src_img)
void	pcl2_segmented_callback (const sensor_msgs::PointCloud2ConstPtr &msg)
Private Attributes
cv::Mat	binary_img1_
cv::Mat	binary_img2_
int	canny_max_thresh_
int	canny_threshold_
cv_bridge::CvImage	cv_image
cv::Mat	global_cloth_center_
cv::Mat	global_cloth_center_color_
cv::Mat	global_intersect_
cv::Mat	global_intersect_color_
std::vector< cv::Point2f >	grasping_point_list_
iri_clothes_grasping_point::GraspingPointList3d	graspingPointList3d_msg_
iri_clothes_grasping_point::GraspingPointList	graspingPointList_msg_
image_transport::Publisher	image_pub1_
image_transport::Publisher	image_pub2_
image_transport::Publisher	image_pub3_
image_transport::Publisher	image_pub4_
image_transport::Publisher	image_pub5_
image_transport::Publisher	image_pub6_
image_transport::Publisher	image_pub_
image_transport::Publisher	image_pub_result_
image_transport::Subscriber	image_sub_
image_transport::ImageTransport	imgtransport_
cv::Mat	intersect_
bool	intersections_
double	minarea_
ros::Subscriber	pcl2_sub_
pcl::PointCloud< pcl::PointXYZRGB >	pcl_xyzrgb_
iri_clothes_grasping_point::Pixel	pixel_msg_
ros::Publisher	point_list_publisher_
ros::Publisher	poses_list_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 83 of file iri_clothes_grasping_point_alg_node.h.

Constructor & Destructor Documentation

IriClothesGraspingPointAlgNode::IriClothesGraspingPointAlgNode ( void )

Constructor.

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

Definition at line 9 of file iri_clothes_grasping_point_alg_node.cpp.

IriClothesGraspingPointAlgNode::~IriClothesGraspingPointAlgNode ( void )

Destructor.

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

Definition at line 391 of file iri_clothes_grasping_point_alg_node.cpp.

Member Function Documentation

void IriClothesGraspingPointAlgNode::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< IriClothesGraspingPointAlgorithm >.

Definition at line 432 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::binaryObjectSelection	(	const cv::Mat	labelled_image,
		cv::Mat &	binary_image,
		unsigned char	Red,
		unsigned char	Green,
		unsigned char	Blue
	)		`[private]`

-1 stands for random selection

Definition at line 43 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::count_labels	(	cv::Mat	labelled_image,
		std::set< unsigned int > &	labels
	)		`[private]`

Definition at line 123 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::draw_clothes_centers ( cv::Mat & src_img ) [private]

Definition at line 157 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::draw_contours_center	(	cv::Mat	binary_img,
		cv::Mat &	color_output
	)		`[private]`

Detect edges using canny

Find contours

Get the moments

Get the mass centers:

Draw contours

Calculate the area with the moments 00 and compare with the result of the OpenCV function

Definition at line 66 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::draw_intersections ( cv::Mat & src_img ) [private]

Definition at line 177 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::image_callback ( const sensor_msgs::ImageConstPtr & msg ) [private]

Definition at line 308 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::image_from_pcl2 ( cv::Mat & rgb_image ) [private]

Definition at line 331 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::image_processing ( const cv::Mat src_img ) [private]

Definition at line 261 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::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< IriClothesGraspingPointAlgorithm >.

Definition at line 398 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::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< IriClothesGraspingPointAlgorithm >.

Definition at line 419 of file iri_clothes_grasping_point_alg_node.cpp.

void IriClothesGraspingPointAlgNode::pcl2_segmented_callback ( const sensor_msgs::PointCloud2ConstPtr & msg ) [private]

Definition at line 348 of file iri_clothes_grasping_point_alg_node.cpp.