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 _morphological_op_alg_node_h_ 00026 #define _morphological_op_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "morphological_op_alg.h" 00030 00031 // [publisher subscriber headers] 00032 #include <sensor_msgs/Image.h> 00033 00034 // [service client headers] 00035 00036 // [action server client headers] 00037 00038 // Other 00039 #include <cv_bridge/cv_bridge.h> 00040 #include <sensor_msgs/image_encodings.h> 00041 #include <opencv2/imgproc/imgproc.hpp> 00042 #include <opencv2/highgui/highgui.hpp> 00043 00048 class MorphologicalOpAlgNode : public algorithm_base::IriBaseAlgorithm<MorphologicalOpAlgorithm> 00049 { 00050 private: 00051 // [publisher attributes] 00052 ros::Publisher image_out_publisher_; 00053 sensor_msgs::Image Image_msg_; 00054 00055 // [subscriber attributes] 00056 ros::Subscriber image_in_subscriber_; 00057 void image_in_callback(const sensor_msgs::Image::ConstPtr& msg); 00058 CMutex image_in_mutex_; 00059 00060 // [service attributes] 00061 00062 // [client attributes] 00063 00064 // [action server attributes] 00065 00066 // [action client attributes] 00067 00068 // other 00069 std::string morph_operation; 00070 std::string structuring_element_shape; 00071 int morph_element_size; 00072 int morph_val_reduction; 00073 00074 cv::Mat processImage(cv::Mat image); 00075 00076 cv::Mat add_gradient_to_image(cv::Mat image, cv::Mat element); 00077 00078 00079 public: 00086 MorphologicalOpAlgNode(void); 00087 00094 ~MorphologicalOpAlgNode(void); 00095 00096 protected: 00109 void mainNodeThread(void); 00110 00123 void node_config_update(Config &config, uint32_t level); 00124 00131 void addNodeDiagnostics(void); 00132 00133 // [diagnostic functions] 00134 00135 // [test functions] 00136 }; 00137 00138 #endif