median_blur_alg_node.cpp

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#include "median_blur_alg_node.h"


using namespace cv;

MedianBlurAlgNode::MedianBlurAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<MedianBlurAlgorithm>()
{
        //init class attributes if necessary
        //this->loop_rate_ = 2;//in [Hz]

        // [init publishers]
        this->image_out_publisher_ = this->public_node_handle_.advertise<sensor_msgs::Image>("image_out", 1);
        
        // [init subscribers]
        this->image_in_subscriber_ = this->public_node_handle_.subscribe("image_in", 1, &MedianBlurAlgNode::image_in_callback, this);
        
        // [init services]
        
        // [init clients]
        
        // [init action servers]
        
        // [init action clients]
        
}

MedianBlurAlgNode::~MedianBlurAlgNode(void)
{
        // [free dynamic memory]
}

void MedianBlurAlgNode::mainNodeThread(void)
{
        // [fill msg structures]
        //this->Image_msg_.data = my_var;
        
        // [fill srv structure and make request to the server]
        
        // [fill action structure and make request to the action server]

        // [publish messages]
        //this->image_out_publisher_.publish(this->Image_msg_);
}

/*  [subscriber callbacks] */
void MedianBlurAlgNode::image_in_callback(const sensor_msgs::Image::ConstPtr& msg) 
{ 
        cv_bridge::CvImagePtr cv_ptr;
        
        try
        {
                cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
        }
        catch (cv_bridge::Exception& e)
        {
                ROS_ERROR("cv_bridge exception: %s", e.what());
                return;
        }
        
        cv_ptr->image = processImage(cv_ptr->image);
        
        ROS_DEBUG_STREAM("Publishing median blur");
        
        this->image_out_publisher_.publish(cv_ptr->toImageMsg());

        //use appropiate mutex to shared variables if necessary 
        //this->alg_.lock(); 
        //this->image_in_mutex_.enter(); 

        //std::cout << msg->data << std::endl; 

        //unlock previously blocked shared variables 
        //this->alg_.unlock(); 
        //this->image_in_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

/* Other */
cv::Mat MedianBlurAlgNode::processImage(cv::Mat image)
{
        Mat dst;
        
        cv::medianBlur(image, dst, medianblur_size);
        
        return dst;
}

void MedianBlurAlgNode::node_config_update(Config &config, uint32_t level)
{
        this->alg_.lock();
        
        this->medianblur_size = config.medianblur_size;
        
        // save the current configuration
        this->alg_.config_=config;
        
        this->alg_.unlock();
}

void MedianBlurAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
        return algorithm_base::main<MedianBlurAlgNode>(argc, argv, "median_blur_alg_node");
}