image_segmentation_demo.cpp
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2011, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 #include <ros/ros.h> 00037 00038 00039 00040 //#include "image_segmentation_demo/object_segmentation_ui.h" 00041 #include "image_segmentation_demo/image_segmentation_demo.h" 00042 #include "image_segmentation_demo/ui_frame.h" 00043 00044 00045 #include <wx/wx.h> 00046 #include <wx/app.h> 00047 using namespace std; 00048 00049 namespace image_segmentation_demo{ 00050 00051 PickAndPlaceApp::PickAndPlaceApp() 00052 { 00053 00054 } 00055 00056 PickAndPlaceApp::~PickAndPlaceApp() 00057 { 00058 00059 } 00060 00061 bool PickAndPlaceApp::OnInit() 00062 { 00063 char ** local_argv_; 00064 local_argv_ = new char*[ argc ]; 00065 for ( int i = 0; i < argc; ++i ) 00066 { 00067 local_argv_[ i ] = strdup( wxString( argv[ i ] ).mb_str() ); 00068 } 00069 const std::string name="bosch_image_segmentation_demo"; 00070 ros::init(argc,local_argv_, "bosch_image_segmentation_demo"); 00071 00072 for ( int i = 0; i < argc; ++i ) 00073 { 00074 free( local_argv_[ i ] ); 00075 } 00076 free(local_argv_); 00077 00078 // RunPickandPlaceApp(); 00079 00080 ObjectSegmentationUI *window=new ObjectSegmentationUI(NULL);//,wxID_ANY, wxT("Grapper"), wxDefaultPosition, wxSize(1550, 1550), wxCAPTION|wxFRAME_FLOAT_ON_PARENT|wxMINIMIZE_BOX|wxTAB_TRAVERSAL, wxT("ObjectSegmentationWindow")); 00081 window->Show(true); 00082 00083 00084 SetTopWindow(window); 00085 return true; 00086 } 00087 00088 00089 00090 } 00091 00092 IMPLEMENT_APP(image_segmentation_demo::PickAndPlaceApp) 00093 00094 /*int main(int argc, char **argv) { 00095 00096 ros::init(argc, argv, "bosch_image_segmentation_demo"); 00097 image_segmentation_demo::PickAndPlaceApp pick_and_place; 00098 00099 // while (ros::ok()) 00100 // { 00101 //first pull up window and have them segment object 00102 pick_and_place.GetObjectSegmentation(); 00103 00104 //then send results of object segmentation to pick up object 00105 00106 //then move arm to specified location and open the hand 00107 00108 // } 00109 00110 return 0; 00111 }*/