map_location_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 _map_location_alg_h_
#define _map_location_alg_h_

#include <iri_map_location/MapLocationConfig.h>
#include "mutex.h"

#include <opencv/cvwimage.h>
#include <opencv/highgui.h>
//#include <opencv2/imgproc/imgproc.hpp>
//#include <opencv2/highgui/highgui.hpp>
//#include <opencv2/core/core.hpp>

//include map_location_alg main library

static const char WINDOW[] = "Image window";

class MapLocationAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    std::string mapPath;
    std::string logoPath;
    std::string logo2Path;
    cv::Mat mapImage;
    cv::Mat logoImage;
    cv::Mat logo2Image;
    
    int t;

    
    std::vector< CvScalar         > colorList;
    std::vector< std::string      > textList;    
    std::vector< CvScalar         > currentColor;
    std::vector< std::string      > currentText;
    std::vector< std::vector<int> > locations;    

    void initialize();
    cv::Mat loadImage(std::string const imagePath, int mode);
    void loadCaption();
    void loadLocations();

    void initText(cv::Size * textSize, CvFont * font, int const fontFace, double const fontScale, float const fontShare, int const fontThickness, int const fontLineType, std::vector<std::string> const text);
    void drawCircle(int x, int y, int r,  CvScalar color);    
    void showImage();

  public:
    typedef iri_map_location::MapLocationConfig Config;

    Config config_;

    MapLocationAlgorithm(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);

    // here define all map_location_alg interface methods to retrieve and set
    // the driver parameters
    cv::Mat image;
    cv::Mat getImage();
    void loadFiles();
    void mapIteration();
    void logoIteration();
    void addLocation(float xpos, float ypos, int colorindex);
    void addLocationWithCode(int code);
    
    std::string path;

    ~MapLocationAlgorithm(void);
};

#endif