exhaustive_fit_detector.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

// Author(s): Marius Muja and Matei Ciocarlie

#ifndef _EXHAUSTIVE_FIT_DETECTOR_
#define _EXHAUSTIVE_FIT_DETECTOR_

#include <vector>
#include <set>
#include <boost/filesystem.hpp>
#include <boost/shared_ptr.hpp>

#include <sensor_msgs/PointCloud.h>

#include <household_objects_database_msgs/GetModelList.h>
#include <household_objects_database_msgs/GetModelMesh.h>

#include "tabletop_object_detector/model_fitter.h"

namespace tabletop_object_detector {


template <class Fitter>
class ExhaustiveFitDetector
{
 private:
  ros::NodeHandle priv_nh_;
  ros::NodeHandle nh_;  
  std::vector<Fitter*> templates;

  std::set<int> model_exclusion_set_;
  bool negate_exclusions_;

 public:
 ExhaustiveFitDetector() : priv_nh_("~"), nh_(""), negate_exclusions_(false) {}
  ~ExhaustiveFitDetector();

  void addModelToExclusionList(int model_id)
  {
    model_exclusion_set_.insert(model_id);
  }

  void clearExclusionList()
  {
    model_exclusion_set_.clear();
  }

  void setNegateExclusions(bool value)
  {
    negate_exclusions_ = value;
  }

  void loadDatabaseModels(std::string model_set);


  template <class PointCloudType>
  std::vector<ModelFitInfo> fitBestModels(const PointCloudType& cloud, int numResults)
  {
    std::vector<ModelFitInfo> fit_results;
    if (numResults <= 0) return fit_results;
    
    for (size_t i=0; i<templates.size(); ++i) 
    {
      ModelFitInfo current = templates[i]->template fitPointCloud<PointCloudType>(cloud);
      // If the model that was matched is not in the exclusion list
      bool found = (model_exclusion_set_.find(current.getModelId()) != model_exclusion_set_.end());
      if (negate_exclusions_ == found)
      {
        if ((int)fit_results.size() < numResults)
        {
          fit_results.push_back(current);
          std::sort(fit_results.begin(), fit_results.end(), ModelFitInfo::compareScores);
        }
        else
        {
          if (fit_results.back().getScore() > current.getScore())
          {
            fit_results.back() = current;
            std::sort(fit_results.begin(), fit_results.end(), ModelFitInfo::compareScores);
          }
        }
      }
    } 
    return fit_results;
  }
};

template <class Fitter>
ExhaustiveFitDetector<Fitter>::~ExhaustiveFitDetector()
{
  for (size_t i=0;i<templates.size();++i) {
    delete templates[i];
  }
}

template <class Fitter>
void ExhaustiveFitDetector<Fitter>::loadDatabaseModels(std::string model_set)
{
  std::string get_model_list_srv_name;
  priv_nh_.param<std::string>("get_model_list_srv", get_model_list_srv_name, "get_model_list_srv");
  while ( !ros::service::waitForService(get_model_list_srv_name, ros::Duration(2.0)) && nh_.ok() ) 
  {
    ROS_INFO("Waiting for %s service to come up", get_model_list_srv_name.c_str());
  }
  if (!nh_.ok()) exit(0);
  ros::ServiceClient get_model_list_srv = nh_.serviceClient<household_objects_database_msgs::GetModelList>
    (get_model_list_srv_name, true);


  std::string get_model_mesh_srv_name;
  priv_nh_.param<std::string>("get_model_mesh_srv", get_model_mesh_srv_name, "get_model_mesh_srv");
  while ( !ros::service::waitForService(get_model_mesh_srv_name, ros::Duration(2.0)) && nh_.ok() ) 
  {
    ROS_INFO("Waiting for %s service to come up", get_model_mesh_srv_name.c_str());
  }
  if (!nh_.ok()) exit(0);
  ros::ServiceClient get_model_mesh_srv = nh_.serviceClient<household_objects_database_msgs::GetModelMesh>
    (get_model_mesh_srv_name, true);


  household_objects_database_msgs::GetModelList model_list;
  model_list.request.model_set = model_set;
  if (!get_model_list_srv.call(model_list) || 
      model_list.response.return_code.code != model_list.response.return_code.SUCCESS )
  {
    ROS_ERROR("Could not retrieve list of models from database");
    return;
  }
  if (model_list.response.model_ids.empty()) 
  {
    ROS_ERROR("Empty model list retrieved from database");
    return;
  }

  ROS_INFO("Object detector: loading object models");
  for(size_t i=0; i<model_list.response.model_ids.size(); i++) 
  {
    int model_id = model_list.response.model_ids[i];

    household_objects_database_msgs::GetModelMesh get_mesh;
    get_mesh.request.model_id = model_id;
    if ( !get_model_mesh_srv.call(get_mesh) || 
         get_mesh.response.return_code.code != get_mesh.response.return_code.SUCCESS )
    {
      ROS_ERROR("Failed to retrieve mesh for model %d", model_id);
      continue;
    }
    if (get_mesh.response.mesh.vertices.empty() || get_mesh.response.mesh.triangles.empty() )
    {
      ROS_ERROR("Empty mesh for model %d", model_id);
      continue;
    }

    Fitter* fitter = new Fitter();
    fitter->initializeFromMesh(get_mesh.response.mesh);
    templates.push_back(fitter);  
    //set the model ID in the template so that we can use it later
    templates.back()->setModelId( model_id );
    ROS_INFO("  Loaded database model with id %d", model_id);
  }
  ROS_INFO("Object detector: loading complete");
}

} //namespace

#endif