IRI ROS Specific Algorithm Class. More...

#include <closed_door_detector_alg_node.h>

Inheritance diagram for ClosedDoorDetectorAlgNode:

Public Member Functions
	ClosedDoorDetectorAlgNode (void)
	Constructor.
	~ClosedDoorDetectorAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
double	AngleBetweenLines (cv::Point point1, cv::Point point2, cv::Point point3, cv::Point point4)
	Angle between two lines.
void	DoorSizeCalibration (cv::Mat inputImage, double min_dst_h, double max_dst_h, double min_dst_v, double max_dst_v, int handle_width, int handle_height)
	Display door/handle size limits.
void	DrawRect (cv::Mat inputImage, cv::Point q1, cv::Point q2, cv::Point q3, cv::Point q4, cv::Scalar color, int lineSize, int filled)
	Draw Quadrilateral.
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	door_action_start_callback (const std_msgs::Int8::ConstPtr &msg)
void	image_color_callback (const sensor_msgs::Image::ConstPtr &msg)
void	image_depth_callback (const sensor_msgs::Image::ConstPtr &msg)
void	points_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
Private Attributes
int	allowed_blobs
int	area
int	aspect
bool	Aspect_filter
double	b1
double	b2
double	b3
double	b4
cv::Point2d	b_c1
cv::Point2d	b_c2
cv::Point2d	b_c3
cv::Point2d	b_c4
cv::Point2d	b_door_centroid
cv::Point2d	b_handle
float	b_handle_x
float	b_handle_y
float	b_handle_z
cv::Scalar	black
cv_bridge::CvImagePtr	blobs
cv::Point2d	c1
cv::Point2d	c10
cv::Point2d	c11
cv::Point2d	c12
cv::Point2d	c2
cv::Point2d	c3
cv::Point2d	c4
cv::Point2d	c5
cv::Point2d	c6
cv::Point2d	c7
cv::Point2d	c8
cv::Point2d	c9
cv_bridge::CvImagePtr	canny
int	captured_depth
int	check
ros::Publisher	closed_door_coordinates_publisher_
pcl::PointCloud< pcl::PointXYZ >	cloud
cv::Vec3b	color
std::vector< cv::Vec3b >	colorTab
int	compCount
int	cx_max
int	cx_min
int	cy_max
int	cy_min
float *	Da
int	debugging_images
cv_bridge::CvImagePtr	depth_raw
float *	Di
CMutex	door_action_start_mutex_
ros::Subscriber	door_action_start_subscriber_
std_msgs::Int32MultiArray	door_coordinates
ros::Publisher	door_handle_publisher_
int	door_x
int	door_y
bool	DSC
double	dst
double	dst_down
double	dst_h
double	dst_left
double	dst_right
double	dst_up
double	dst_v
double	dx
double	dy
int	f_c1
int	f_c2
int	f_c3
int	f_c4
int	flat
int	frames_size
bool	Geom_filter
int	geometry
cv_bridge::CvImagePtr	gradient
double	h_r
int	handle_height
int	handle_location
float	handle_mask_width
int	handle_maxx
int	handle_maxy
int	handle_minx
int	handle_miny
int	handle_width
int	handle_x
int	handle_y
int	i_max
int	i_min
int	idx
char *	Ii
CMutex	image_color_mutex_
ros::Subscriber	image_color_subscriber_
CMutex	image_depth_mutex_
ros::Subscriber	image_depth_subscriber_
std_msgs::Int32MultiArray	Int32MultiArray_msg_
int	k_max
int	k_min
int	lower_offset
double	m1
double	m2
double	m3
double	m4
int	max_door_height
int	max_door_width
double	max_dst_h
double	max_dst_v
float	meters
int	min_door_height
int	min_door_width
double	min_dst_h
double	min_dst_v
bool	no_simulator
int	offset_d
int	offset_l
int	offset_r
int	offset_u
pcl::PointXYZ	offsetPoint3D
cv_bridge::CvImagePtr	original
cv::Vec3b	original_color
cv::Point2d	p_left
cv::Point2d	p_up
bool	Persp_filter
int	perspective
int	point
pcl::PointXYZ	point3D
CMutex	points_mutex_
ros::Subscriber	points_subscriber_
geometry_msgs::PoseStamped	PoseStamped_msg_
double	r
bool	Range_filter
int	repeated_color
cv::RNG	rng
int	roi_x
int	roi_y
cv::Point2d	s_c1
cv::Point2d	s_c2
cv::Point2d	s_c3
cv::Point2d	s_c4
cv::Point2d	s_door_centroid
cv::Point2d	s_handle
int	segment_fidelity
int	segment_size
int	sensor_range
bool	SFT
bool	SHM
int	size
bool	Size_filter
std::vector< cv::Point2d >	ss_c1
std::vector< cv::Point2d >	ss_c2
std::vector< cv::Point2d >	ss_c3
std::vector< cv::Point2d >	ss_c4
std::vector< cv::Point2d >	ss_door_centroid
std::vector< cv::Point2d >	ss_handle
std::vector< float >	ss_handle_x
std::vector< float >	ss_handle_y
std::vector< float >	ss_handle_z
int	start
double	step_x
double	step_y
int	support
bool	SVP
double	theta
double	theta1
double	theta2
double	theta3
double	theta4
int	upper_offset
double	v_r
std::vector< cv::Point2d >	vec_down
std::vector< cv::Point2d >	vec_left
std::vector< cv::Point2d >	vec_right
std::vector< cv::Point2d >	vec_up
cv::Scalar	white
float	x
float	x_i
float	y
float	y_i
float	z
float	z_i
Static Private Attributes
static const double	cx_d = 3.3930780975300314e+02
static const double	cy_d = 2.4273913761751615e+02
static const double	fx_d = 1.0 / 5.9421434211923247e+02
static const double	fy_d = 1.0 / 5.9104053696870778e+02
static const double	max_range = 5.5
static const double	min_range = 0.5

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 70 of file closed_door_detector_alg_node.h.

Constructor & Destructor Documentation

ClosedDoorDetectorAlgNode::ClosedDoorDetectorAlgNode ( void )

Constructor.

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

Definition at line 10 of file closed_door_detector_alg_node.cpp.

ClosedDoorDetectorAlgNode::~ClosedDoorDetectorAlgNode ( void )

Destructor.

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

Definition at line 46 of file closed_door_detector_alg_node.cpp.

Member Function Documentation

void ClosedDoorDetectorAlgNode::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< ClosedDoorDetectorAlgorithm >.

Definition at line 1245 of file closed_door_detector_alg_node.cpp.

double ClosedDoorDetectorAlgNode::AngleBetweenLines	(	cv::Point	point1,
		cv::Point	point2,
		cv::Point	point3,
		cv::Point	point4
	)		`[protected]`

Angle between two lines.

Return minimum angle between two lines in radians

Definition at line 1308 of file closed_door_detector_alg_node.cpp.

void ClosedDoorDetectorAlgNode::door_action_start_callback ( const std_msgs::Int8::ConstPtr & msg ) [private]

Definition at line 67 of file closed_door_detector_alg_node.cpp.

void ClosedDoorDetectorAlgNode::DoorSizeCalibration	(	cv::Mat	inputImage,
		double	min_dst_h,
		double	max_dst_h,
		double	min_dst_v,
		double	max_dst_v,
		int	handle_width,
		int	handle_height
	)		`[protected]`

Display door/handle size limits.

Display current door limits and handle size in inputImage in order to modify these parameters based on visual feedback

Definition at line 1256 of file closed_door_detector_alg_node.cpp.

void ClosedDoorDetectorAlgNode::DrawRect	(	cv::Mat	inputImage,
		cv::Point	q1,
		cv::Point	q2,
		cv::Point	q3,
		cv::Point	q4,
		cv::Scalar	color,
		int	lineSize,
		int	filled
	)		`[protected]`

Draw Quadrilateral.

Draw a Quadrilateral shape on inputImage given 4 cvPoint coordinates in clockwise order. If filled == 0 4 lines are drawn. If filled == 1 a filled quadrilateral is drawn

Definition at line 1284 of file closed_door_detector_alg_node.cpp.

void ClosedDoorDetectorAlgNode::image_color_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 114 of file closed_door_detector_alg_node.cpp.

void ClosedDoorDetectorAlgNode::image_depth_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

void ClosedDoorDetectorAlgNode::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< ClosedDoorDetectorAlgorithm >.

Definition at line 51 of file closed_door_detector_alg_node.cpp.

void ClosedDoorDetectorAlgNode::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< ClosedDoorDetectorAlgorithm >.

Definition at line 1216 of file closed_door_detector_alg_node.cpp.

void ClosedDoorDetectorAlgNode::points_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 94 of file closed_door_detector_alg_node.cpp.