SegmentationCamera.h

/*
 * Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_SEGMENTATIONCAMERA_H
#define ROBOTSIO_SEGMENTATIONCAMERA_H
 
#include <RobotsIO/Camera/Camera.h>
#include <RobotsIO/Camera/CameraParameters.h>
#include <RobotsIO/Utils/Transform.h>
 
#include <SuperimposeMesh/SICAD.h>
 
#include <Eigen/Dense>
 
 
namespace RobotsIO {
    namespace Camera {
        class SegmentationCamera;
    }
}
 
 
 
class RobotsIO::Camera::SegmentationCamera
{
public:
    SegmentationCamera(const RobotsIO::Camera::CameraParameters& camera_parameters, const std::string& mesh_path, const double& threshold = 0.01);
 
    ~SegmentationCamera();
 
    void add_object();
 
    std::pair<bool, cv::Mat> mask(const Eigen::MatrixXf& scene_depth, const Eigen::Transform<double, 3, Eigen::Affine> object_transform);
 
    std::pair<bool, cv::Mat> mask(std::shared_ptr<RobotsIO::Camera::Camera> camera, std::shared_ptr<RobotsIO::Utils::Transform> object_transform);
 
private:
    std::pair<bool, cv::Mat> render_mask(const Eigen::MatrixXf& scene_depth, const Eigen::Transform<double, 3, Eigen::Affine> object_transform);
 
    std::unique_ptr<SICAD> renderer_;
 
    RobotsIO::Camera::CameraParameters parameters_;
 
    const double threshold_;
 
    const std::string log_name_ = "SegmentationCamera";
};
 
#endif /* ROBOTSIO_SEGMENTATIONCAMERA_H */