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