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object_segmentation_rviz_ui.h

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#ifndef OBJECT_SEGMENTATION_RVIZ_UI
#define OBJECT_SEGMENTATION_RVIZ_UI

#include <ros/ros.h>

#include "bosch_object_segmentation_gui/ObjectSegmentationGuiAction.h"
#include <actionlib/server/simple_action_server.h>

#include "bosch_object_segmentation_gui/grabcut3d_object_segmenter.h"
#include "bosch_object_segmentation_gui/table_detector.h"

#include <tf/transform_listener.h>
#include <visualization_msgs/Marker.h>

#include <wx/event.h>

#include <rviz/visualization_manager.h>
#include <OGRE/OgreManualObject.h>

#include <sensor_msgs/CameraInfo.h>

#include "object_segmentation_frame.h"
#include <image_transport/image_transport.h>

namespace rviz_interaction_tools {
class ImageOverlay;
class DisparityRenderer;
}

namespace rviz {
class WindowManagerInterface;
class RenderPanel;
}

namespace bosch_object_segmentation_gui {
  
  class ObjectSegmentationRvizUI : public ObjectSegmentationFrame
  {
    typedef geometry_msgs::Point32    Point;
    
  public:
    ObjectSegmentationRvizUI(rviz::VisualizationManager *visualization_manager);
    virtual ~ObjectSegmentationRvizUI();
    
    virtual void update(float wall_dt, float ros_dt);

    //start listening to action goals
    void startActionServer( ros::NodeHandle &node_handle );
    
    //stop action server, cancel current goal & hide if necessary
    void stopActionServer();

  protected:

    // callback for new action server goals
    void acceptNewGoal();

    // callback for action server preempt (cancel) requests
    void preempt();
  
    virtual void onRenderWindowMouseEvents( wxMouseEvent& event );

    // button events
    virtual void acceptButtonClicked( wxCommandEvent& );
    virtual void cancelButtonClicked( wxCommandEvent& );
    virtual void resetButtonClicked( wxCommandEvent& );
    virtual void segmentButtonClicked( wxCommandEvent& );

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

    // stop segmentation by sending a stop message
    void stopSegmentation();

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

    rviz::WindowManagerInterface* window_manager_;
    rviz::RenderPanel* render_panel_;

    Ogre::SceneManager* scene_manager_;
    Ogre::SceneNode* scene_root_;

    rviz_interaction_tools::ImageOverlay* image_overlay_;

    void reconstructAndClusterPointCloud(ObjectSegmentationGuiResult &result);
    
    actionlib::SimpleActionServer<ObjectSegmentationGuiAction> *object_segmentation_server_;
    
  private:
  
    enum ResetType{PLAIN, COLOR, SURFACE, DISP, HOLES, UNIFORM};

    ros::NodeHandle nh_;
    
    ros::NodeHandle priv_nh_;
    
    image_transport::Publisher image_pub_;

    // overlays current result from segmenter with image from camera
    void overlaySegmentationMask();
    
    // creates an RGB image from point cloud that comes in
    void fillRgbImage(sensor_msgs::Image &rgb_img,
                      const sensor_msgs::PointCloud2 &point_cloud);
 
    // get a single depth image
    bool getDepthImage(sensor_msgs::Image& image_msg);
    // convert image message to cv
    bool convertImageMessageToMat(const sensor_msgs::Image& image_msg, Mat& image);
    // convert cv to image message
    bool convertMatToImageMessage(const Mat& image, sensor_msgs::Image& image_msg);
    // update display image
    void updateImageOverlay();
    // reset internal state
    void resetVars( );


    // Segmentation object
    GrabCut3DObjectSegmenter* object_segmenter_;

    // detect table
    TableDetector  table_detector_;
    
    // stores sensor data
    sensor_msgs::Image          current_image_;
    sensor_msgs::Image          current_depth_image_;
    stereo_msgs::DisparityImage current_disparity_image_;
    sensor_msgs::PointCloud2    current_point_cloud_;
    sensor_msgs::CameraInfo     current_camera_info_;
    
    // segmentation mask
    cv::Mat                     binary_mask_;
    
    std::vector<sensor_msgs::PointCloud> clusters_;
    
    ros::Publisher marker_pub_;
    int num_markers_published_;
    int current_marker_id_;
  };

}

#endif

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bosch_object_segmentation_gui
Author(s): Benjamin Pitzer
autogenerated on Tue Mar 5 13:41:14 2013