blob_store.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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#ifndef SEMANTICMODEL_BLOB_STORE_H
#define SEMANTICMODEL_BLOB_STORE_H

#include <mongo_ros/message_collection.h>
#include <semanticmodel/blob.hh>
#include <semanticmodel/BlobMessage.h>
#include <semanticmodel/SwitchDB.h>
#include <ros/ros.h>
#include <boost/thread.hpp>
#include <boost/circular_buffer.hpp>
#include <image_transport/image_transport.h>
#include <image_transport/camera_subscriber.h>
#include <image_transport/camera_publisher.h>
#include <image_geometry/pinhole_camera_model.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Pose2D.h>

namespace semanticmodel
{


class BlobStore
{
public:

  BlobStore (const std::string& canonical_frame,
             const std::string& rgb_camera_frame,
             const std::string& db_name,
             const std::string& collection_namespace);


  void update (const std::vector<Blob*>& blobs,
               const sensor_msgs::Image& img,
               const sensor_msgs::CameraInfo& info);

  bool switchDb (SwitchDB::Request& req, SwitchDB::Response& resp);

private:

  // Highlight 3d blob in 2d image
  sensor_msgs::Image::Ptr
  highlightBlobInImage (const Blob& blob,
                        const sensor_msgs::Image& img,
                        const sensor_msgs::CameraInfo& info);

  
  // Return the 3d pose of the base frame in the canonical frame
  // at the time that the image was taken
  geometry_msgs::Pose2D getViewpoint (const sensor_msgs::Image& img);

  // How fast is head moving wrt base?
  double headAngularSpeed (const ros::Time& t);

  // Where is head wrt base?
  btQuaternion headAngleAt (const ros::Time& t);

  const std::string canonical_frame_;
  const std::string rgb_camera_frame_;
  const std::string base_frame_;
  const std::string db_name_;
  const double max_head_angular_speed_;

  boost::mutex mutex_;
  ros::NodeHandle nh_;
  image_transport::ImageTransport it_;

  tf::TransformListener tf_;

  // Camera model for conversion
  image_geometry::PinholeCameraModel cam_model_;

  typedef mongo_ros::MessageCollection<BlobMessage> BlobCollection;
  typedef mongo_ros::MessageCollection<sensor_msgs::Image> ImageCollection;
  
  // DB collection where blobs are stored
  boost::shared_ptr<BlobCollection> blobs_;

  // Collection where images are stored
  boost::shared_ptr<ImageCollection> images_;

  // Publisher for last image
  image_transport::Publisher pub_;

  // Service for switching db
  ros::ServiceServer switch_srv_;
};


} // namespace

#endif // include guard