pr2_interactive_object_detection_backend.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.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef InteractiveObjRecBackend_H
#define InteractiveObjRecBackend_H

#include <actionlib/client/simple_action_client.h>
#include <actionlib/server/simple_action_server.h>

#include <object_recognition_gui/ObjectRecognitionGuiAction.h>

#include <rgbd_assembler/RgbdAssembly.h>

#include <tabletop_object_detector/TabletopSegmentation.h>
#include <tabletop_object_detector/TabletopObjectRecognition.h>
#include <tabletop_object_detector/Table.h>

#include <tabletop_collision_map_processing/collision_map_interface.h>

#include <object_manipulator/tools/mechanism_interface.h>

#include <pr2_interactive_object_detection/UserCommandAction.h>
#include <pr2_interactive_object_detection/msg_saver.h>

#include <stereo_msgs/DisparityImage.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/CameraInfo.h>
#include <visualization_msgs/Marker.h>

class InteractiveObjDetBackend
{
public:

  InteractiveObjDetBackend();
  ~InteractiveObjDetBackend();

private:

  void processUserCommand(const pr2_interactive_object_detection::UserCommandGoal::ConstPtr &goal);

  bool getSensorData( ros::Duration time_out );

  bool doSegmentation( bool interactive );

  bool doInteractiveSegmentation( );

  bool doAutoSegmentation( );

  bool doRecognition( bool interactive );

  bool doAutoRecognition( );

  bool doInteractiveRecognition();

  bool doAutoDetection( );

  bool doDetection( bool interactive );

  bool publishResult( int &num_recognized );

  void resetMarkers( );

  int printObjects(const std::vector<object_manipulation_msgs::GraspableObject> &objects);

  bool getModelInfo(const household_objects_database_msgs::DatabaseModelPose &model_pose,
        std::string &name, std::string &all_tags);

  bool getPose( geometry_msgs::Pose &pose, std::string from_frame, std::string to_frame );

  bool transformPose( geometry_msgs::PoseStamped &pose, std::string target_frame );

  bool getModelMesh( int model_id, arm_navigation_msgs::Shape& mesh );

  bool addTableToCollisionMap(tabletop_object_detector::Table table );

  void statusFeedback( std::string status );
  void abortAction( std::string error );
  void finishAction( std::string result );
  void preemptAction( );

  template <class ServiceType>
  bool connectService( ros::ServiceClient& service_client, std::string topic );

  void publishFitMarkers(
      const std::vector<household_objects_database_msgs::DatabaseModelPoseList> &potential_models,
      const tabletop_object_detector::Table &table );

  void clearOldMarkers(std::string frame_id);

  ros::NodeHandle root_nh_;
  ros::NodeHandle priv_nh_;

  ros::ServiceClient rgbd_assembler_client_;

  ros::ServiceClient get_model_description_client_;
  ros::ServiceClient get_model_mesh_client_;

  ros::ServiceClient auto_seg_client_;

  ros::ServiceClient auto_obj_rec_client_;

  ros::ServiceClient tabletop_detection_client_;

  ros::Publisher marker_pub_;

  // requests a popup where the user refines detection results
  actionlib::SimpleActionClient<object_recognition_gui::ObjectRecognitionGuiAction> *obj_rec_popup_client_;

  // receives commands from the gui control interface
  actionlib::SimpleActionServer<pr2_interactive_object_detection::UserCommandAction> *user_command_server_;

  // collection of the sensor data
  sensor_msgs::Image image_;
  stereo_msgs::DisparityImage disparity_image_;
  sensor_msgs::CameraInfo  camera_info_;
  sensor_msgs::PointCloud2 point_cloud_;

  rgbd_assembler::RgbdAssembly rgbd_assembler_srv_;

  // requests & results of intermediate steps
  tabletop_object_detector::TabletopSegmentationResponse segmentation_result_;
  tabletop_object_detector::TabletopObjectRecognitionResponse recognition_result_;

  tf::TransformListener tf_listener_;

  // used for publishing the result message
  ros::Publisher result_publisher_;

  // for adding the table to the collision map
  tabletop_collision_map_processing::CollisionMapInterface collision_map_interface_;

  int current_marker_id_;

  std::vector< visualization_msgs::Marker > delete_markers_;

  // if we did interactive segmentation in the first step, we will treat the result differently
  bool segmentation_was_interactive_;

  // parameters
  double min_marker_quality_;

  std::string robot_reference_frame_id_;

  double table_x_;
  double table_y_;
  double table_z_;
};

#endif