IRI ROS Specific Algorithm Class. More...

#include <camera_object_detection_alg_node.h>

Inheritance diagram for CameraObjectDetectionAlgNode:

Public Member Functions
	CameraObjectDetectionAlgNode (void)
	Constructor.
	~CameraObjectDetectionAlgNode (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
void	camera_info_callback (const sensor_msgs::CameraInfo::ConstPtr &msg)
bool	computeRectangle ()
void	follow_rectangle (cv::Rect rect)
void	follow_targetActive ()
void	follow_targetDone (const actionlib::SimpleClientGoalState &state, const iri_nav_msgs::followTargetResultConstPtr &result)
void	follow_targetFeedback (const iri_nav_msgs::followTargetFeedbackConstPtr &feedback)
void	follow_targetMakeActionRequest ()
void	image_callback (const sensor_msgs::ImageConstPtr &image_msg)
void	people_callback (const iri_perception_msgs::peopleTrackingArray::ConstPtr &msg)
Private Attributes
ros::Subscriber	camera_info_subscriber_
image_geometry::PinholeCameraModel	camera_model
image_transport::Subscriber	camera_subscriber
actionlib::SimpleActionClient < iri_nav_msgs::followTargetAction >	follow_target_client_
iri_nav_msgs::followTargetGoal	follow_target_goal_
bool	following_target
int	id
image_transport::Publisher	image_publisher
cv::Size	image_size
geometry_msgs::PointStamped	init_point
cv::Rect	init_rect
bool	initialized
sensor_msgs::ImageConstPtr	input_image
image_transport::ImageTransport	it
trajectory_msgs::JointTrajectoryPoint	JointTrajectoryPoint_msg_
bool	newDetection
sensor_msgs::ImagePtr	output_image
cv::Rect	output_rect
ros::Publisher	people_out_publisher_
ros::Subscriber	people_subscriber_
iri_perception_msgs::peopleTrackingArray	peopleTrackingArray_msg_
bool	pointReady
bool	rectReady
ros::Publisher	target_joints_publisher_
tf::TransformListener	tf_listener
bool	tracking
double	window_height
double	window_offset
double	window_width

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 52 of file camera_object_detection_alg_node.h.

Constructor & Destructor Documentation

CameraObjectDetectionAlgNode::CameraObjectDetectionAlgNode ( void )

Constructor.

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

Definition at line 3 of file camera_object_detection_alg_node.cpp.

CameraObjectDetectionAlgNode::~CameraObjectDetectionAlgNode ( void )

Destructor.

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

Definition at line 44 of file camera_object_detection_alg_node.cpp.

Member Function Documentation

void CameraObjectDetectionAlgNode::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< CameraObjectDetectionAlgorithm >.

Definition at line 311 of file camera_object_detection_alg_node.cpp.

void CameraObjectDetectionAlgNode::camera_info_callback ( const sensor_msgs::CameraInfo::ConstPtr & msg ) [private]

Definition at line 121 of file camera_object_detection_alg_node.cpp.

bool CameraObjectDetectionAlgNode::computeRectangle ( ) [private]

Definition at line 321 of file camera_object_detection_alg_node.cpp.

void CameraObjectDetectionAlgNode::follow_rectangle ( cv::Rect rect ) [private]

Definition at line 382 of file camera_object_detection_alg_node.cpp.

void CameraObjectDetectionAlgNode::follow_targetActive ( ) [private]

Definition at line 254 of file camera_object_detection_alg_node.cpp.

void CameraObjectDetectionAlgNode::follow_targetDone	(	const actionlib::SimpleClientGoalState &	state,
		const iri_nav_msgs::followTargetResultConstPtr &	result
	)		`[private]`

Definition at line 243 of file camera_object_detection_alg_node.cpp.

void CameraObjectDetectionAlgNode::follow_targetFeedback ( const iri_nav_msgs::followTargetFeedbackConstPtr & feedback ) [private]

Definition at line 259 of file camera_object_detection_alg_node.cpp.

void CameraObjectDetectionAlgNode::follow_targetMakeActionRequest ( ) [private]

Definition at line 277 of file camera_object_detection_alg_node.cpp.

void CameraObjectDetectionAlgNode::image_callback ( const sensor_msgs::ImageConstPtr & image_msg ) [private]

Definition at line 108 of file camera_object_detection_alg_node.cpp.

void CameraObjectDetectionAlgNode::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< CameraObjectDetectionAlgorithm >.

Definition at line 49 of file camera_object_detection_alg_node.cpp.

void CameraObjectDetectionAlgNode::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< CameraObjectDetectionAlgorithm >.

Definition at line 296 of file camera_object_detection_alg_node.cpp.

void CameraObjectDetectionAlgNode::people_callback ( const iri_perception_msgs::peopleTrackingArray::ConstPtr & msg ) [private]

Definition at line 137 of file camera_object_detection_alg_node.cpp.