zyonz_image_based_leaf_probing_alg.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _zyonz_image_based_leaf_probing_alg_h_
00026 #define _zyonz_image_based_leaf_probing_alg_h_
00027 
00028 #include <zyonz_image_based_leaf_probing/ZyonzImageBasedLeafProbingConfig.h>
00029 #include "mutex.h"
00030 #include "image.h"
00031 #include "misc.h"
00032 #include "pcl_ros/point_cloud.h"
00033 #include "pcl/point_types.h" 
00034 #include "pcl/io/pcd_io.h" 
00035 #include <cv_bridge/cv_bridge.h>
00036 #include <geometry_msgs/PoseArray.h>
00037 #include <geometry_msgs/PoseStamped.h>
00038 #include <zyonz_msgs/ProbingSteps.h>
00039 #include <tf/transform_listener.h>
00040 
00041 //include zyonz_image_based_leaf_probing_alg main library
00042 
00048 class ZyonzImageBasedLeafProbingAlgorithm
00049 {
00050   protected:
00057     CMutex alg_mutex_;
00058 
00059     // private attributes and methods
00060   private:    
00061     pcl::PointCloud<pcl::PointXYZRGB> pcl_xyzrgb_; 
00062     cv_bridge::CvImagePtr seg_cv_ptr_;
00063     cv_bridge::CvImagePtr confidence_cv_ptr_;
00064     tf::TransformListener tf_listener_;
00065     
00066     float sigma_;
00067     float k_;
00068     size_t min_size_;
00069     
00070     image<rgb> *leaf_confidence_;
00071     double *goal_parameters_;
00072     Eigen::Vector3f probing_point_;
00073     zyonz_msgs::ProbingSteps probing_step_;
00074 
00075   public:
00082     typedef zyonz_image_based_leaf_probing::ZyonzImageBasedLeafProbingConfig Config;
00083 
00090     Config config_;
00091 
00100     ZyonzImageBasedLeafProbingAlgorithm(void);
00101 
00107     void lock(void) { alg_mutex_.enter(); };
00108 
00114     void unlock(void) { alg_mutex_.exit(); };
00115 
00123     bool try_enter(void) { return alg_mutex_.try_enter(); };
00124 
00136     void config_update(Config& new_cfg, uint32_t level=0);
00137 
00138     // here define all zyonz_image_based_leaf_probing_alg interface methods to retrieve and set
00139     // the driver parameters
00140 
00141     void set_sigma(float new_sigma);
00142     void set_k(float new_k);
00143     void set_min_size(int new_min_size);
00144 
00145     float get_sigma();
00146     float get_k();
00147     int get_min_size();
00148     cv_bridge::CvImagePtr get_seg_image();
00149     cv_bridge::CvImagePtr get_confidence_image();
00150     Eigen::Vector3f get_probing_point();
00151     zyonz_msgs::ProbingSteps get_probing_step();
00152     void find_probing_pose(const Eigen::Vector3f probing_point, const Eigen::Vector3f x_vector, const Eigen::Vector3f normal_vector, Eigen::Quaternionf &probing_pose);
00153     void find_probing_pose_by_PCA(const int label, int ** clusters, const image<rgb> *pc, Eigen::Quaternionf &probing_pose, Eigen::Vector3f &normal_vector);
00154 
00155 
00162     ~ZyonzImageBasedLeafProbingAlgorithm(void);
00163 
00164     bool get_leaf_probing_point(const sensor_msgs::PointCloud2::ConstPtr &msg);
00165 
00166 
00167 };
00168 
00169 #endif


zyonz_image_based_leaf_probing
Author(s): Sergi Foix
autogenerated on Fri Dec 6 2013 23:25:27