IRI ROS Specific Algorithm Class. More...
#include <chessboard_pattern_projection_alg_node.h>
Public Member Functions | |
ChessboardPatternProjectionAlgNode (void) | |
Constructor. | |
~ChessboardPatternProjectionAlgNode (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 | image_callback (const sensor_msgs::Image::ConstPtr &image_msg, const sensor_msgs::CameraInfoConstPtr &info_msg) |
Private Attributes | |
cv_bridge::CvImagePtr | cv_ptr_ |
sensor_msgs::Image | Image_msg_ |
CMutex | image_mutex_ |
image_transport::Publisher | image_publisher_ |
image_transport::CameraSubscriber | image_subscriber_ |
boost::shared_ptr < image_transport::ImageTransport > | it_ |
unsigned int | num_intersec_x_ |
unsigned int | num_intersec_y_ |
float | sq_x_ |
float | sq_y_ |
IRI ROS Specific Algorithm Class.
Definition at line 50 of file chessboard_pattern_projection_alg_node.h.
Constructor.
This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.
Definition at line 4 of file chessboard_pattern_projection_alg_node.cpp.
Destructor.
This destructor frees all necessary dynamic memory allocated within this this class.
Definition at line 34 of file chessboard_pattern_projection_alg_node.cpp.
void ChessboardPatternProjectionAlgNode::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< ChessboardPatternProjectionAlgorithm >.
Definition at line 167 of file chessboard_pattern_projection_alg_node.cpp.
void ChessboardPatternProjectionAlgNode::image_callback | ( | const sensor_msgs::Image::ConstPtr & | image_msg, |
const sensor_msgs::CameraInfoConstPtr & | info_msg | ||
) | [private] |
Definition at line 53 of file chessboard_pattern_projection_alg_node.cpp.
void ChessboardPatternProjectionAlgNode::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< ChessboardPatternProjectionAlgorithm >.
Definition at line 39 of file chessboard_pattern_projection_alg_node.cpp.
void ChessboardPatternProjectionAlgNode::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.
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< ChessboardPatternProjectionAlgorithm >.
Definition at line 157 of file chessboard_pattern_projection_alg_node.cpp.
Definition at line 74 of file chessboard_pattern_projection_alg_node.h.
sensor_msgs::Image ChessboardPatternProjectionAlgNode::Image_msg_ [private] |
Definition at line 57 of file chessboard_pattern_projection_alg_node.h.
CMutex ChessboardPatternProjectionAlgNode::image_mutex_ [private] |
Definition at line 64 of file chessboard_pattern_projection_alg_node.h.
Definition at line 56 of file chessboard_pattern_projection_alg_node.h.
Definition at line 61 of file chessboard_pattern_projection_alg_node.h.
boost::shared_ptr<image_transport::ImageTransport> ChessboardPatternProjectionAlgNode::it_ [private] |
Definition at line 60 of file chessboard_pattern_projection_alg_node.h.
unsigned int ChessboardPatternProjectionAlgNode::num_intersec_x_ [private] |
Definition at line 77 of file chessboard_pattern_projection_alg_node.h.
unsigned int ChessboardPatternProjectionAlgNode::num_intersec_y_ [private] |
Definition at line 78 of file chessboard_pattern_projection_alg_node.h.
float ChessboardPatternProjectionAlgNode::sq_x_ [private] |
Definition at line 75 of file chessboard_pattern_projection_alg_node.h.
float ChessboardPatternProjectionAlgNode::sq_y_ [private] |
Definition at line 76 of file chessboard_pattern_projection_alg_node.h.