iri_clothes_grasping_point_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 _iri_clothes_grasping_point_alg_node_h_
#define _iri_clothes_grasping_point_alg_node_h_

#include <set>

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "iri_clothes_grasping_point_alg.h"

#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

// [PCL_ROS]
#include "pcl_ros/point_cloud.h"
#include "pcl/point_types.h"
#include "pcl/ros/register_point_struct.h"

//pcl::toROSMsg
#include <pcl/io/pcd_io.h>

// [publisher subscriber headers]
#include <geometry_msgs/Pose.h>
#include <iri_clothes_grasping_point/GraspingPointList3d.h>
#include <iri_clothes_grasping_point/GraspingPointList.h>
#include <iri_clothes_grasping_point/Pixel.h>

// [service client headers]

// [action server client headers]

typedef union {
    struct /*anonymous*/
    {
      unsigned char Blue;
      unsigned char Green;
      unsigned char Red;
      unsigned char Alpha;
    };
    float float_value;
    long long_value;
} RGBValue;

static unsigned int rgb2double(int r, int g, int b){
  return r*255*255+g*255+b;
}

static void double2rgb(int& r, int& g, int& b, unsigned int rgb){
  r = rgb/(255*255);
  g = (rgb/255)%255;
  b = (rgb%255)%255;
}

class IriClothesGraspingPointAlgNode : public algorithm_base::IriBaseAlgorithm<IriClothesGraspingPointAlgorithm>
{
  private:
    double minarea_;
    bool intersections_;

    cv_bridge::CvImage cv_image;

    int canny_threshold_;
    int canny_max_thresh_; 
    void draw_contours_center(cv::Mat binary_img, cv::Mat& color_output);
    void draw_clothes_centers(cv::Mat& src_img);
    void draw_intersections(cv::Mat& src_img);
    void count_labels(cv::Mat labelled_image, std::set<unsigned int>& labels);

    std::vector<cv::Point2f> grasping_point_list_;

    cv::Mat binary_img1_;
    cv::Mat binary_img2_;
    cv::Mat intersect_;
    cv::Mat global_intersect_; 
    cv::Mat global_intersect_color_; 
    cv::Mat global_cloth_center_; 
    cv::Mat global_cloth_center_color_; 

    void image_from_pcl2(cv::Mat& rgb_image);
    void image_processing(const cv::Mat src_img);

    void binaryObjectSelection(const cv::Mat labelled_image, cv::Mat& binary_image, unsigned char Red, unsigned char Green, unsigned char Blue);

    image_transport::ImageTransport imgtransport_;

    // [publisher attributes]

    ros::Publisher point_list_publisher_;
    ros::Publisher poses_list_publisher_;
    iri_clothes_grasping_point::GraspingPointList3d graspingPointList3d_msg_;
    iri_clothes_grasping_point::GraspingPointList graspingPointList_msg_;
    iri_clothes_grasping_point::Pixel pixel_msg_;
    image_transport::Publisher image_pub_;
    image_transport::Publisher image_pub1_;
    image_transport::Publisher image_pub2_;
    image_transport::Publisher image_pub3_;
    image_transport::Publisher image_pub4_;
    image_transport::Publisher image_pub5_;
    image_transport::Publisher image_pub6_;
    image_transport::Publisher image_pub_result_;

    // [subscriber attributes]
    image_transport::Subscriber image_sub_;
    ros::Subscriber pcl2_sub_;
    pcl::PointCloud<pcl::PointXYZRGB> pcl_xyzrgb_; 
    
    void image_callback(const sensor_msgs::ImageConstPtr& msg);
    void pcl2_segmented_callback(const sensor_msgs::PointCloud2ConstPtr& msg);

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

  public:
    IriClothesGraspingPointAlgNode(void);

    ~IriClothesGraspingPointAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif