interactive_roi_selection.h

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/*
 * Copyright (c) 2019 Roboception GmbH
 *
 * Author: Carlos Xavier Garcia Briones
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. 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.
 *
 * 3. Neither the name of the copyright holder 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 HOLDER 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
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 */

#ifndef INTERACTIVE_ROI_SELECTION_H
#define INTERACTIVE_ROI_SELECTION_H

#include <ros/ros.h>
#include <tf/tf.h>

#include <interactive_markers/interactive_marker_server.h>
#include <rc_pick_client/RegionOfInterest.h>

namespace rc_roi_manager_gui
{
class InteractiveRoiSelection
{
public:
  InteractiveRoiSelection();

  virtual ~InteractiveRoiSelection();

  bool setInteractiveRoi(const rc_pick_client::RegionOfInterest& roi);

  bool getInteractiveRoi(rc_pick_client::RegionOfInterest& roi);

private:
  boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server_;
  tf::Vector3 center_position_;
  tf::Quaternion center_orientation_;
  tf::Vector3 dimensions_;
  rc_pick_client::RegionOfInterest interactive_roi_;
  std::shared_ptr<ros::NodeHandle> nh_;

  void computeVectorRotation(const tf::Vector3& v, const tf::Quaternion& q, tf::Vector3& rot_v);

  void processRoiPoseFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);

  void processRoiSizeFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);

  void processSphereSizeFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);

  void updateCenterMarker();

  visualization_msgs::Marker makeMarker(tf::Vector3 box_dimensions, bool is_center);

  void makeBoxControls(visualization_msgs::InteractiveMarker& interactive_marker, bool is_center);

  void makeSphereControls(visualization_msgs::InteractiveMarker& interactive_marker, bool is_center);

  void makeInteractiveMarker(std::string int_marker_name, std::string int_marker_description,
                             const tf::Vector3& position, bool is_center, tf::Vector3 box_dimensions,
                             tf::Quaternion box_orientation);
};
}  // namespace rc_roi_manager_gui
#endif  // INTERACTIVE_ROI_SELECTION_H