zyonz_obtain_roi_jump_edge_based_alg.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 _zyonz_obtain_roi_jump_edge_based_alg_h_
#define _zyonz_obtain_roi_jump_edge_based_alg_h_

#include <zyonz_obtain_roi_jump_edge_based/ZyonzObtainRoiJumpEdgeBasedConfig.h>
#include "mutex.h"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <cv_bridge/cv_bridge.h>
#include "pcl_ros/point_cloud.h"
#include "pcl/point_types.h"
#include "pcl_ros/transforms.h"
#include "sensor_msgs/image_encodings.h"
#include "geometry_msgs/PoseStamped.h"
#include "tf/transform_listener.h"
#include "tf/transform_datatypes.h"

//include zyonz_obtain_roi_jump_edge_based_alg main library

class ZyonzObtainRoiJumpEdgeBasedAlgorithm
{
  private:
    pcl::PointCloud<pcl::PointXYZ> roi_pc_;
    sensor_msgs::Image::Ptr roi_img_ptr_;
    geometry_msgs::PoseStamped::Ptr roi_pose_ptr_;
    geometry_msgs::PoseStamped::Ptr viewpoint_pose_ptr_;

  protected:
    CMutex alg_mutex_;

    // private attributes and methods

  public:
    typedef zyonz_obtain_roi_jump_edge_based::ZyonzObtainRoiJumpEdgeBasedConfig Config;

    Config config_;

    ZyonzObtainRoiJumpEdgeBasedAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    bool principal_component_analysis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr point_cloud, Eigen::Vector4f& centroid, Eigen::Quaternionf& orientation);
    bool isRunning(sensor_msgs::PointCloud2::ConstPtr& point_cloud_ConstPtr, sensor_msgs::Image::ConstPtr& cluster_a_img_ConstPtr, sensor_msgs::Image::ConstPtr& cluster_b_img_ConstPtr, sensor_msgs::Image::ConstPtr& residual_img_ConstPtr);

    // here define all zyonz_obtain_roi_jump_edge_based_alg interface methods to retrieve and set
    // the driver parameters
    
    pcl::PointCloud<pcl::PointXYZ>::ConstPtr get_roi_pc(void);
    sensor_msgs::Image::Ptr get_roi_img(void);
    geometry_msgs::PoseStamped::Ptr get_roi_pose(void);
    geometry_msgs::PoseStamped::Ptr get_viewpoint_pose(void);

    ~ZyonzObtainRoiJumpEdgeBasedAlgorithm(void);
};

#endif