IRI ROS Specific Algorithm Class. More...

#include <plane_segmentation_pcl_rgb_alg_node.h>

Inheritance diagram for PlaneSegmentationPclRgbAlgNode:

Public Member Functions
	PlaneSegmentationPclRgbAlgNode (void)
	Constructor.
	~PlaneSegmentationPclRgbAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
sensor_msgs::ImagePtr	cvimage_to_rosimage (cv::Mat cvimage, std_msgs::Header header)
	Registered pointcloud to image.
void	pointcloud_in_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
cv::Mat	pointcloud_to_image (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)
	Registered pointcloud to image.
Private Attributes
sensor_msgs::Image	Image_msg_
pcl_msgs::ModelCoefficients	ModelCoefficients_msg_
ros::Publisher	plane_coefficients_publisher_
sensor_msgs::PointCloud2	PointCloud2_msg_
CMutex	pointcloud_in_mutex_
ros::Subscriber	pointcloud_in_subscriber_
ros::Publisher	pointcloud_out_publisher_
CMutex	segment_mutex_
ros::Publisher	segmented_image_publisher_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 57 of file plane_segmentation_pcl_rgb_alg_node.h.

Constructor & Destructor Documentation

PlaneSegmentationPclRgbAlgNode::PlaneSegmentationPclRgbAlgNode ( void )

Constructor.

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

Definition at line 3 of file plane_segmentation_pcl_rgb_alg_node.cpp.

PlaneSegmentationPclRgbAlgNode::~PlaneSegmentationPclRgbAlgNode ( void )

Destructor.

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

Definition at line 28 of file plane_segmentation_pcl_rgb_alg_node.cpp.

Member Function Documentation

void PlaneSegmentationPclRgbAlgNode::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< PlaneSegmentationPclRgbAlgorithm >.

Definition at line 112 of file plane_segmentation_pcl_rgb_alg_node.cpp.

sensor_msgs::ImagePtr PlaneSegmentationPclRgbAlgNode::cvimage_to_rosimage	(	cv::Mat	cvimage,
		std_msgs::Header	header
	)		`[private]`

Registered pointcloud to image.

Gets the image shown by a pointcloud

Definition at line 158 of file plane_segmentation_pcl_rgb_alg_node.cpp.

void PlaneSegmentationPclRgbAlgNode::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< PlaneSegmentationPclRgbAlgorithm >.

Definition at line 33 of file plane_segmentation_pcl_rgb_alg_node.cpp.

void PlaneSegmentationPclRgbAlgNode::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< PlaneSegmentationPclRgbAlgorithm >.

Definition at line 105 of file plane_segmentation_pcl_rgb_alg_node.cpp.

void PlaneSegmentationPclRgbAlgNode::pointcloud_in_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 51 of file plane_segmentation_pcl_rgb_alg_node.cpp.

cv::Mat PlaneSegmentationPclRgbAlgNode::pointcloud_to_image ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud ) [private]

Registered pointcloud to image.

Gets the image shown by a pointcloud

Definition at line 124 of file plane_segmentation_pcl_rgb_alg_node.cpp.