remove_background_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 _remove_background_alg_node_h_
00026 #define _remove_background_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "remove_background_alg.h"
00030 
00031 // [publisher subscriber headers]
00032 #include <sensor_msgs/Image.h>
00033 
00034 // [service client headers]
00035 #include <iri_perception_msgs/SetImage.h>
00036 
00037 // [action server client headers]
00038 
00039 // Other
00040 #include <cv_bridge/cv_bridge.h>
00041 #include <sensor_msgs/image_encodings.h>
00042 #include <opencv2/imgproc/imgproc.hpp>
00043 #include <opencv2/highgui/highgui.hpp>
00044 
00045 
00050 class RemoveBackgroundAlgNode : public algorithm_base::IriBaseAlgorithm<RemoveBackgroundAlgorithm>
00051 {
00052   private:
00053     // [publisher attributes]
00054     ros::Publisher image_out_publisher_;
00055     sensor_msgs::Image Image_msg_;
00056 
00057     // [subscriber attributes]
00058     ros::Subscriber image_in_subscriber_;
00059     void image_in_callback(const sensor_msgs::Image::ConstPtr& msg);
00060     CMutex image_in_mutex_;
00061 
00062     // [service attributes]
00063     ros::ServiceServer set_background_image_server_;
00064     bool set_background_imageCallback(iri_perception_msgs::SetImage::Request &req, iri_perception_msgs::SetImage::Response &res);
00065     CMutex set_background_image_mutex_;
00066 
00067     // [client attributes]
00068 
00069     // [action server attributes]
00070 
00071     // [action client attributes]
00072     
00073     // node parameters
00074     bool has_background_;
00075     cv::Mat background_image_;
00076     uint8_t binarize_threshold_;
00077     
00078     // other
00084     cv::Mat processImage(cv::Mat image);
00085     
00086 
00087   public:
00094     RemoveBackgroundAlgNode(void);
00095 
00102     ~RemoveBackgroundAlgNode(void);
00103 
00104   protected:
00117     void mainNodeThread(void);
00118 
00131     void node_config_update(Config &config, uint32_t level);
00132 
00139     void addNodeDiagnostics(void);
00140 
00141     // [diagnostic functions]
00142     
00143     // [test functions]
00144 };
00145 
00146 #endif


iri_opencv_filters
Author(s): David Martinez
autogenerated on Fri Dec 6 2013 22:43:25