CapturingPointCloudProvider.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, 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::Core
 * @author     David Gonzalez Aguirre (david dot gonzalez at kit dot edu)
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <ArmarXCore/core/services/tasks/RunningTask.h>
 
#include "PointCloudProvider.h"
#include <VisionX/tools/FPSCounter.h>
 
#include <mutex>
 
namespace visionx
{
 
    class CapturingPointCloudProviderPropertyDefinitions:
        public PointCloudProviderPropertyDefinitions
    {
    public:
        CapturingPointCloudProviderPropertyDefinitions(std::string prefix):
            PointCloudProviderPropertyDefinitions(prefix)
        {
            defineOptionalProperty<float>("framerate", 30.0f, "framerate for the point clouds").setMin(0.0f).setMax(60.0f);
            defineOptionalProperty<bool>("isEnabled", true, "enable the capturing process immediately");
        }
    };
 
 
 
    class CapturingPointCloudProvider :
        virtual public PointCloudProvider,
        virtual public CapturingPointCloudProviderInterface
    {
    public:
        // ================================================================== //
        // == CapturingPointCloudProvider ice interface ========================== //
        // ================================================================== //
        void startCapture(const Ice::Current& c = Ice::emptyCurrent) override;
 
        void startCaptureForNumFrames(int numFrames, const Ice::Current& c = Ice::emptyCurrent) override;
 
        void stopCapture(const Ice::Current& c = Ice::emptyCurrent) override;
 
 
        void changeFrameRate(Ice::Float framesPerSecond, const Ice::Current& c = Ice::emptyCurrent) override;
 
 
        bool isCaptureEnabled(const Ice::Current& c = Ice::emptyCurrent) override;
 
 
    protected:
 
        // ================================================================== //
        // == Interface of PointCloudProvider ================================= //
        // ================================================================== //
        virtual void onInitCapturingPointCloudProvider() = 0;
 
        virtual void onStartCapturingPointCloudProvider() { }
 
        virtual void onExitCapturingPointCloudProvider() = 0;
 
        virtual void onStartCapture(float framesPerSecond) = 0;
 
        virtual void onStopCapture() = 0;
 
        virtual bool doCapture() = 0;
 
        // ================================================================== //
        // == Utility methods for PointCloudProviders ============================ //
        // ================================================================== //
        void setPointCloudSyncMode(ImageSyncMode pointCloudSyncMode);
 
        ImageSyncMode getPointCloudSyncMode();
 
 
        // ================================================================== //
        // == RunningComponent implementation =============================== //
        // ================================================================== //
        void onInitPointCloudProvider() override;
 
        void onConnectPointCloudProvider() override;
 
        void onExitPointCloudProvider() override;
 
        virtual void capture();
 
    protected:
        armarx::RunningTask<CapturingPointCloudProvider>::pointer_type captureTask;
 
        ImageSyncMode pointCloudSyncMode;
 
        mutable std::mutex captureMutex;
 
        float frameRate;
 
        FPSCounter fpsCounter;
 
        std::atomic_bool captureEnabled;
 
        int numFramesToCapture;
    };
}