ping_tabletop_node.cpp

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// Author(s): Matei Ciocarlie

#include <ros/ros.h>

#include <string>
#include <vector>

#include "tabletop_object_detector/TabletopSegmentation.h"
#include "tabletop_object_detector/TabletopObjectRecognition.h"

int main(int argc, char **argv)
{
  ros::init(argc, argv, "ping_tabletop_node");
  ros::NodeHandle nh;

  std::string service_name("/tabletop_segmentation");
  while ( !ros::service::waitForService(service_name, ros::Duration().fromSec(3.0)) && nh.ok() )
  {
    ROS_INFO("Waiting for service %s...", service_name.c_str());
  }
  if (!nh.ok()) exit(0);

  tabletop_object_detector::TabletopSegmentation segmentation_srv;
  if (!ros::service::call(service_name, segmentation_srv))
  {
    ROS_ERROR("Call to segmentation service failed");
    exit(0);
  }
  if (segmentation_srv.response.result != segmentation_srv.response.SUCCESS)
  {
    ROS_ERROR("Segmentation service returned error %d", segmentation_srv.response.result);
    exit(0);
  }
  ROS_INFO("Segmentation service succeeded. Detected %d clusters", (int)segmentation_srv.response.clusters.size());
  if (segmentation_srv.response.clusters.empty()) exit(0);

  //also test segmenting with input table
  sleep(0.5);
  segmentation_srv.request.table = segmentation_srv.response.table;
  ROS_INFO("Re-segmenting with the same table shifted 10 cm closer to the robot");
  for(size_t i=0; i<segmentation_srv.request.table.convex_hull.vertices.size(); i++)
  {
    segmentation_srv.request.table.convex_hull.vertices[i].x -= .10;
  }
  if (!ros::service::call(service_name, segmentation_srv))
  {
    ROS_ERROR("Call to segmentation service failed");
    exit(0);
  }
  if (segmentation_srv.response.result != segmentation_srv.response.SUCCESS)
  {
    ROS_ERROR("Segmentation service returned error %d", segmentation_srv.response.result);
    exit(0);
  }
  ROS_INFO("Segmentation service with table input succeeded. Detected %d clusters", (int)segmentation_srv.response.clusters.size());

  service_name = "/tabletop_object_recognition";
  if ( !ros::service::waitForService(service_name, ros::Duration().fromSec(3.0)) )
  {
    ROS_INFO("Recognition service %s is not available", service_name.c_str());
    exit(0);
  }

  tabletop_object_detector::TabletopObjectRecognition recognition_srv;
  recognition_srv.request.table = segmentation_srv.response.table;
  recognition_srv.request.clusters = segmentation_srv.response.clusters;
  recognition_srv.request.num_models = 5;
  if (!ros::service::call(service_name, recognition_srv))
  {
    ROS_ERROR("Call to recognition service failed");
    exit(0);
  }

  ROS_INFO("Recognition results:");
  for (size_t i=0; i<recognition_srv.response.models.size(); i++)
  {
    if (recognition_srv.response.models[i].model_list.empty())
    {
      ROS_INFO("  Unidentifiable cluster");
    }
    else
    {
      ROS_INFO("  Model id %d",recognition_srv.response.models[i].model_list[0].model_id);
    }
  }

  ROS_INFO("Clusters correspond to following recognition results:");
  for (size_t i=0; i<recognition_srv.response.cluster_model_indices.size(); i++)
  {
    ROS_INFO("  Cluster %u: recognition result %d", (unsigned int)i, 
             recognition_srv.response.cluster_model_indices.at(i));
  }
  return true;
}