blob_store.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 */ 00030 00039 #ifndef SEMANTICMODEL_BLOB_STORE_H 00040 #define SEMANTICMODEL_BLOB_STORE_H 00041 00042 #include <mongo_ros/message_collection.h> 00043 #include <semanticmodel/blob.hh> 00044 #include <semanticmodel/BlobMessage.h> 00045 #include <semanticmodel/SwitchDB.h> 00046 #include <ros/ros.h> 00047 #include <boost/thread.hpp> 00048 #include <boost/circular_buffer.hpp> 00049 #include <image_transport/image_transport.h> 00050 #include <image_transport/camera_subscriber.h> 00051 #include <image_transport/camera_publisher.h> 00052 #include <image_geometry/pinhole_camera_model.h> 00053 #include <tf/transform_listener.h> 00054 #include <geometry_msgs/Pose2D.h> 00055 00056 namespace semanticmodel 00057 { 00058 00059 00060 class BlobStore 00061 { 00062 public: 00063 00064 BlobStore (const std::string& canonical_frame, 00065 const std::string& rgb_camera_frame, 00066 const std::string& db_name, 00067 const std::string& collection_namespace); 00068 00069 00073 void update (const std::vector<Blob*>& blobs, 00074 const sensor_msgs::Image& img, 00075 const sensor_msgs::CameraInfo& info); 00076 00078 bool switchDb (SwitchDB::Request& req, SwitchDB::Response& resp); 00079 00080 private: 00081 00082 // Highlight 3d blob in 2d image 00083 sensor_msgs::Image::Ptr 00084 highlightBlobInImage (const Blob& blob, 00085 const sensor_msgs::Image& img, 00086 const sensor_msgs::CameraInfo& info); 00087 00088 00089 // Return the 3d pose of the base frame in the canonical frame 00090 // at the time that the image was taken 00091 geometry_msgs::Pose2D getViewpoint (const sensor_msgs::Image& img); 00092 00093 // How fast is head moving wrt base? 00094 double headAngularSpeed (const ros::Time& t); 00095 00096 // Where is head wrt base? 00097 btQuaternion headAngleAt (const ros::Time& t); 00098 00099 const std::string canonical_frame_; 00100 const std::string rgb_camera_frame_; 00101 const std::string base_frame_; 00102 const std::string db_name_; 00103 const double max_head_angular_speed_; 00104 00105 boost::mutex mutex_; 00106 ros::NodeHandle nh_; 00107 image_transport::ImageTransport it_; 00108 00109 tf::TransformListener tf_; 00110 00111 // Camera model for conversion 00112 image_geometry::PinholeCameraModel cam_model_; 00113 00114 typedef mongo_ros::MessageCollection<BlobMessage> BlobCollection; 00115 typedef mongo_ros::MessageCollection<sensor_msgs::Image> ImageCollection; 00116 00117 // DB collection where blobs are stored 00118 boost::shared_ptr<BlobCollection> blobs_; 00119 00120 // Collection where images are stored 00121 boost::shared_ptr<ImageCollection> images_; 00122 00123 // Publisher for last image 00124 image_transport::Publisher pub_; 00125 00126 // Service for switching db 00127 ros::ServiceServer switch_srv_; 00128 }; 00129 00130 00131 } // namespace 00132 00133 #endif // include guard