PointCloudRecorder.h

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/*
 * This file is part of ArmarX.
 *
 * 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::ArmarXObjects::PointCloudRecorder
 * @author     Markus Grotz ( markus dot grotz at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
 
 
#include <ArmarXCore/core/Component.h>
 
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
 
#include <VisionX/components/pointcloud_core/PointCloudProcessor.h>
 
#include <pcl/point_types.h>
 
#include <pcl/io/pcd_io.h>
 
 
#include <ArmarXCore/core/time/CycleUtil.h>
 
 
 
namespace armarx
{
 
    using PointT = pcl::PointXYZRGBL;
 
    class PointCloudRecorderPropertyDefinitions:
        public visionx::PointCloudProcessorPropertyDefinitions
    {
    public:
        PointCloudRecorderPropertyDefinitions(std::string prefix):
            visionx::PointCloudProcessorPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>("Folder", "/tmp", "Path where to store the point clouds.");
            defineOptionalProperty<std::string>("DebugObserverName", "DebugObserver", "Name of the topic the DebugObserver listens on");
            defineOptionalProperty<std::string>("DebugDrawerTopicName", "DebugDrawerUpdates", "Name of the DebugDrawerTopic");
            defineOptionalProperty<float>("UpdateRate", 2.0f, "Frequency how often the voxel grid is updated");
            defineOptionalProperty<int>("NumPointClouds", 0, "Number of point clouds before exiting");
            defineOptionalProperty<bool>("WriteBinary", true, "If enabled, the point clouds will be stored in binary format. Otherwise, in ASCII format.");
            defineOptionalProperty<bool>("RemoveNaNs", true, "If enabled, invalid points will be removed from the point cloud.");
        }
    };
 
    class PointCloudRecorder :
        virtual public visionx::PointCloudProcessor
    {
    public:
        std::string getDefaultName() const override
        {
            return "PointCloudRecorder";
        }
 
    protected:
        void onInitPointCloudProcessor() override;
 
        void onConnectPointCloudProcessor() override;
 
        void onDisconnectPointCloudProcessor() override;
 
        void onExitPointCloudProcessor() override;
 
        void process() override;
 
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
 
    private:
 
        DebugDrawerInterfacePrx debugDrawer;
        DebugObserverInterfacePrx debugObserver;
 
 
        std::unique_ptr<armarx::CycleUtil> cycleKeeper;
 
        int numClouds;
        int currentCloud;
 
        bool writeBinary;
        bool removeNaNs;
    };
}