IRI ROS Specific Algorithm Class. More...

#include <bow_object_detector_alg_node.h>

Inheritance diagram for BowObjectDetectorAlgNode:

Public Member Functions
	BowObjectDetectorAlgNode (void)
	Constructor.
	~BowObjectDetectorAlgNode (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
cv::Mat	crop_and_resize (cv::Mat &image)
sensor_msgs::ImagePtr	cv_image_to_ros_image (cv::Mat cvimage, std_msgs::Header header)
void	detectGraspPoint ()
void	get_grasping_pointGetFeedbackCallback (iri_bow_object_detector::GetGraspingPointFeedbackPtr &feedback)
void	get_grasping_pointGetResultCallback (iri_bow_object_detector::GetGraspingPointResultPtr &result)
bool	get_grasping_pointHasSucceedCallback (void)
bool	get_grasping_pointIsFinishedCallback (void)
void	get_grasping_pointStartCallback (const iri_bow_object_detector::GetGraspingPointGoalConstPtr &goal)
void	get_grasping_pointStopCallback (void)
void	mask_image_in_callback (const sensor_msgs::Image::ConstPtr &msg)
cv::Mat	pcl_pointcloud_to_cv_image (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud)
void	pointcloud_in_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
sensor_msgs::Image	ros_pointcloud_to_ros_image (sensor_msgs::PointCloud2 ros_cloud)
void	save_pcd_to_disk (sensor_msgs::PointCloud2 ros_cloud)
void	training ()
Private Attributes
ros::ServiceClient	detectObjects_client_
iri_bow_object_detector::GeoVwDetection	detectObjects_srv_
CEvent	EventImageMaskReady
CEvent	EventPointCloudReady
CEvent	EventWrinkledMapReady
bool	first_pointcloud_
IriActionServer < iri_bow_object_detector::GetGraspingPointAction >	get_grasping_point_aserver_
ros::ServiceClient	get_sift_descriptors_client_
iri_sift::DescriptorsFromImage	get_sift_descriptors_srv_
ros::ServiceClient	get_vws_client_
iri_perception_msgs::DescriptorsToVws	get_vws_srv_
ros::ServiceClient	getVwSet_client_
iri_sift::GeoVwSetSrv	getVwSet_srv_
bool	image_mask_ready_
sensor_msgs::Image	Image_msg_
ros::Publisher	image_out_publisher_
sensor_msgs::Image	last_image_
sensor_msgs::Image	last_image_mask_
normal_descriptor_node::ndesc_pc::ConstPtr	last_normal_descriptor_
sensor_msgs::PointCloud2	last_pointcloud_
iri_perception_msgs::DescriptorSet	last_sift_descriptors_
iri_perception_msgs::GeoVwSet	last_sift_vw_set_
sensor_msgs::PointCloud2::ConstPtr	last_wrinkled_map_
CMutex	mask_image_in_mutex_
ros::Subscriber	mask_image_in_subscriber_
sensor_msgs::PointCloud2	PointCloud2_msg_
CMutex	pointcloud_in_mutex_
ros::Subscriber	pointcloud_in_subscriber_
ros::Publisher	pointcloud_out_publisher_
bool	pointcloud_ready_
ros::ServiceClient	pointcloud_to_descriptorset_client_
iri_perception_msgs::PclToDescriptorSet	pointcloud_to_descriptorset_srv_
ros::ServiceClient	select_grasp_point_client_
iri_bow_object_detector::RefineGraspPoint	select_grasp_point_srv_
ros::ServiceClient	set_background_image_client_
iri_perception_msgs::SetImage	set_background_image_srv_
bool	solution_ready_
bool	wrinkled_map_ready_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 70 of file bow_object_detector_alg_node.h.

Constructor & Destructor Documentation

BowObjectDetectorAlgNode::BowObjectDetectorAlgNode ( void )

Constructor.

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

Definition at line 3 of file bow_object_detector_alg_node.cpp.

BowObjectDetectorAlgNode::~BowObjectDetectorAlgNode ( void )

Destructor.

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

Definition at line 45 of file bow_object_detector_alg_node.cpp.

Member Function Documentation

void BowObjectDetectorAlgNode::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< BowObjectDetectorAlgorithm >.

Definition at line 268 of file bow_object_detector_alg_node.cpp.

cv::Mat BowObjectDetectorAlgNode::crop_and_resize ( cv::Mat & image ) [private]

Definition at line 334 of file bow_object_detector_alg_node.cpp.

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

Definition at line 342 of file bow_object_detector_alg_node.cpp.

void BowObjectDetectorAlgNode::detectGraspPoint ( ) [private]

Definition at line 351 of file bow_object_detector_alg_node.cpp.

void BowObjectDetectorAlgNode::get_grasping_pointGetFeedbackCallback ( iri_bow_object_detector::GetGraspingPointFeedbackPtr & feedback ) [private]

Definition at line 251 of file bow_object_detector_alg_node.cpp.

void BowObjectDetectorAlgNode::get_grasping_pointGetResultCallback ( iri_bow_object_detector::GetGraspingPointResultPtr & result ) [private]

Definition at line 235 of file bow_object_detector_alg_node.cpp.

bool BowObjectDetectorAlgNode::get_grasping_pointHasSucceedCallback ( void ) [private]

Definition at line 223 of file bow_object_detector_alg_node.cpp.

bool BowObjectDetectorAlgNode::get_grasping_pointIsFinishedCallback ( void ) [private]

Definition at line 211 of file bow_object_detector_alg_node.cpp.

void BowObjectDetectorAlgNode::get_grasping_pointStartCallback ( const iri_bow_object_detector::GetGraspingPointGoalConstPtr & goal ) [private]

Definition at line 188 of file bow_object_detector_alg_node.cpp.

void BowObjectDetectorAlgNode::get_grasping_pointStopCallback ( void ) [private]

Definition at line 204 of file bow_object_detector_alg_node.cpp.

void BowObjectDetectorAlgNode::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< BowObjectDetectorAlgorithm >.

Definition at line 50 of file bow_object_detector_alg_node.cpp.

void BowObjectDetectorAlgNode::mask_image_in_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 136 of file bow_object_detector_alg_node.cpp.

void BowObjectDetectorAlgNode::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< BowObjectDetectorAlgorithm >.

Definition at line 261 of file bow_object_detector_alg_node.cpp.

cv::Mat BowObjectDetectorAlgNode::pcl_pointcloud_to_cv_image ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud ) [private]

Definition at line 300 of file bow_object_detector_alg_node.cpp.

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

Definition at line 155 of file bow_object_detector_alg_node.cpp.

sensor_msgs::Image BowObjectDetectorAlgNode::ros_pointcloud_to_ros_image ( sensor_msgs::PointCloud2 ros_cloud ) [private]

Definition at line 280 of file bow_object_detector_alg_node.cpp.

void BowObjectDetectorAlgNode::save_pcd_to_disk ( sensor_msgs::PointCloud2 ros_cloud ) [private]

Definition at line 292 of file bow_object_detector_alg_node.cpp.

void BowObjectDetectorAlgNode::training ( ) [private]

Definition at line 399 of file bow_object_detector_alg_node.cpp.