human_assisted_object_detection_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _human_assisted_object_detection_alg_node_h_
#define _human_assisted_object_detection_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "human_assisted_object_detection_alg.h"
#include <image_transport/image_transport.h>

// [publisher subscriber headers]
#include <face_detector_mono/RectArray.h>
#include <sensor_msgs/Image.h>

// [service client headers]
#include <iri_human_assisted_object_detection/haod_learn.h>
#include <iri_human_assisted_object_detection/haod_detect.h>
#include <iri_human_assisted_object_detection/haod_init.h>

// [action server client headers]

typedef enum {idle,init,detect,learn} detection_states;

class HumanAssistedObjectDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<HumanAssistedObjectDetectionAlgorithm>
{
  private:
    // [publisher attributes]
    image_transport::ImageTransport it_;
    image_transport::Publisher output_image_publisher_;
    sensor_msgs::ImagePtr Image_msg_;

    // [subscriber attributes]
    ros::Subscriber face_detect_subscriber_;
    void face_detect_callback(const face_detector_mono::RectArray::ConstPtr& msg);
    CMutex face_detect_mutex_;
    image_transport::Subscriber input_image_subscriber_;
    void input_image_callback(const sensor_msgs::Image::ConstPtr& msg);
    CMutex input_image_mutex_;

    // [service attributes]
    ros::ServiceServer learn_server_;
    bool learnCallback(iri_human_assisted_object_detection::haod_learn::Request &req, iri_human_assisted_object_detection::haod_learn::Response &res);
    CMutex learn_mutex_;
    ros::ServiceServer detect_server_;
    bool detectCallback(iri_human_assisted_object_detection::haod_detect::Request &req, iri_human_assisted_object_detection::haod_detect::Response &res);
    CMutex detect_mutex_;
    ros::ServiceServer init_server_;
    bool initCallback(iri_human_assisted_object_detection::haod_init::Request &req, iri_human_assisted_object_detection::haod_init::Response &res);
    CMutex init_mutex_;

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    face_detector_mono::RectArray face_rects;
    bool receiving_detections;
  
    sensor_msgs::ImageConstPtr input_image;
    bool receiving_images;

    cv::Rect rect;
  public:
    HumanAssistedObjectDetectionAlgNode(void);

    ~HumanAssistedObjectDetectionAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif