camera_object_detection_alg_node.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 _camera_object_detection_alg_node_h_
#define _camera_object_detection_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "camera_object_detection_alg.h"
#include <image_transport/image_transport.h>
#include <image_geometry/pinhole_camera_model.h>

// [publisher subscriber headers]
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include <iri_perception_msgs/peopleTrackingArray.h>
#include <sensor_msgs/CameraInfo.h>

// [service client headers]

// [action server client headers]
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <iri_nav_msgs/followTargetAction.h>

#include <geometry_msgs/PointStamped.h>
#include <tf/transform_listener.h>

class CameraObjectDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<CameraObjectDetectionAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher target_joints_publisher_;
    trajectory_msgs::JointTrajectoryPoint JointTrajectoryPoint_msg_;
    ros::Publisher people_out_publisher_;
    iri_perception_msgs::peopleTrackingArray peopleTrackingArray_msg_;

    image_transport::Publisher image_publisher;
    sensor_msgs::ImagePtr output_image;

    // [subscriber attributes]
    ros::Subscriber people_subscriber_;
    void people_callback(const iri_perception_msgs::peopleTrackingArray::ConstPtr& msg);

    ros::Subscriber camera_info_subscriber_;
    void camera_info_callback(const sensor_msgs::CameraInfo::ConstPtr& msg);

    image_transport::ImageTransport it;
    image_transport::Subscriber camera_subscriber;
    void image_callback(const sensor_msgs::ImageConstPtr& image_msg);
    sensor_msgs::ImageConstPtr input_image;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<iri_nav_msgs::followTargetAction> follow_target_client_;
    iri_nav_msgs::followTargetGoal follow_target_goal_;
    void follow_targetMakeActionRequest();
    void follow_targetDone(const actionlib::SimpleClientGoalState& state,  const iri_nav_msgs::followTargetResultConstPtr& result);
    void follow_targetActive();
    void follow_targetFeedback(const iri_nav_msgs::followTargetFeedbackConstPtr& feedback);


    cv::Rect init_rect;
    cv::Rect output_rect;
    cv::Size image_size;
    image_geometry::PinholeCameraModel camera_model;
    geometry_msgs::PointStamped init_point;
    tf::TransformListener tf_listener;

    bool pointReady;
    bool initialized;
    bool rectReady;
    bool newDetection;
    bool tracking;
    bool following_target;
    int  id;
    double window_width;
    double window_height;
    double window_offset;

    bool computeRectangle();
    void follow_rectangle(cv::Rect rect);

  public:
    CameraObjectDetectionAlgNode(void);

    ~CameraObjectDetectionAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif