object_selection_frame.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef OBJECT_SELECTION_FRAME
#define OBJECT_SELECTION_FRAME

#include "pr2_interactive_manipulation/object_selection_ui.h"

#include <geometric_shapes_msgs/Shape.h>
#include <geometry_msgs/Pose.h>
#include <pr2_interactive_object_detection/GraspableObjectList.h>

#include <ogre_tools/point_cloud.h>

#include <OGRE/OgreRenderable.h>

namespace rviz_interaction_tools {
class MeshObject;
class ImageOverlay;
}

namespace ogre_tools {
//class PointCloud;
}

namespace rviz {
class WindowManagerInterface;
class RenderPanel;
class VisualizationManager;
}

namespace Ogre {
class SceneNode;
class RaySceneQuery;
class SceneManager;
}

namespace pr2_interactive_manipulation {

class ObjectSelectionFrame : public ObjectSelectionFrameBase
{
public:

  enum ActionState{ IDLE, ACTIVE, ACCEPTED, CANCELED };

  ObjectSelectionFrame(rviz::VisualizationManager *visualization_manager, wxWindow *parent);
  virtual ~ObjectSelectionFrame();

  //callback for wx mouse events
  void onRenderWindowMouseEvents( wxMouseEvent& event );

  void setData( pr2_interactive_object_detection::GraspableObjectListConstPtr received_objects );

  //called regularly; updates the display.
  void update();

  ActionState getState(){return action_state_;}

  void setState( ActionState state ) { action_state_ = state; }

  unsigned int getSelectedObject() { return selected_object_; }

protected:

  // callbacks for gui buttons
  virtual void acceptButtonClicked( wxCommandEvent& );
  virtual void cancelButtonClicked( wxCommandEvent& );

  //cleanup ogre scene, hide window
  void cleanupAndHide();

  //create the different red and green ogre materials
  void createMaterials();

  //put ogre panel into the window
  void createRenderPanel( rviz::VisualizationManager *visualization_manager );

  void addMesh( int object_index,
      const geometric_shapes_msgs::Shape &mesh,
      const geometry_msgs::Pose &pose );

  void addCluster( int object_index, const sensor_msgs::PointCloud &cluster );

  //ogre stuff
  rviz::RenderPanel* render_panel_;
  Ogre::SceneManager* scene_manager_;
  Ogre::SceneNode* scene_root_;

  //used for object selection
  Ogre::RaySceneQuery* ray_scene_query_;

  //displays the camera image
  rviz_interaction_tools::ImageOverlay *image_overlay_;

  //displays the model hypothesis meshes
  std::map< unsigned, boost::shared_ptr<rviz_interaction_tools::MeshObject> > meshes_;

  unsigned int selected_object_;

  ActionState action_state_;
};

}

#endif

---

pr2_interactive_manipulation
Author(s): Matei Ciocarlie
autogenerated on Fri Jan 11 09:11:03 2013