MaskRobotInImage.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2018, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    VisionX
 * @author     Julian Zimmer ( urdbu at student dot kit dot edu )
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#ifndef _H_VISIONX_MaskRobotInImage_
#define _H_VISIONX_MaskRobotInImage_
 
 
#include <Eigen/Core>
 
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
 
#include <ArmarXCore/core/Component.h>
 
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/core/Pose.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
#include <VisionX/interface/core/DataTypes.h>
 
#include <Image/ByteImage.h>
#include <Image/ImageProcessor.h>
#include <Inventor/SoInteraction.h>
#include <Inventor/actions/SoGLRenderAction.h>
#include <Inventor/nodes/SoBaseColor.h>
#include <Inventor/nodes/SoSelection.h>
#include <Inventor/nodes/SoUnits.h>
 
namespace armarx
{
    /**
     * @class MaskRobotInImage
     * @brief A brief description
     *
     * Detailed Description
     */
    class MaskRobotInImage
    {
    public:
        /**
         * MaskRobotInImage Constructor
         */
        MaskRobotInImage(RobotStateComponentInterfacePrx robotStateComponent,
                         std::string cameraFrameName,
                         visionx::ImageFormatInfo imageFormat,
                         float fov,
                         SbColor backgroundColor = SbColor(0.f, (177.f / 255.f), (64.f / 255.f)),
                         bool flipImages = true,
                         bool useFullModel = true,
                         float collisionModelInflationMargin = 0.f);
 
        /**
         * MaskRobotInImage Destructor
         */
        ~MaskRobotInImage();
 
        CByteImage* getMaskImage(Ice::Long timestamp);
 
        void setBackgroundColor(SbColor newBackgroundColor);
 
    private:
        int imageWidth;
        int imageHeight;
        std::string cameraFrameName;
        float fov;
 
        SbColor backgroundColor;
        bool flipImages;
        bool useFullModel;
        float collisionModelInflationMargin;
 
        RobotStateComponentInterfacePrx robotStateComponent;
        VirtualRobot::RobotPtr localRobot;
 
        std::shared_ptr<SoOffscreenRenderer> renderer;
        std::vector<unsigned char> renderBuffer;
 
        CByteImage* renderedImage;
        CByteImage* maskImage;
    };
} // namespace armarx
#endif