SegmentRansacShapeExtractor.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::SegmentRansacShapeExtractor
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2019
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <pcl/point_types.h>
 
#include <SemanticObjectRelations/ShapeExtraction/ShapeExtraction.h>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
 
 
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <RobotAPI/libraries/core/visualization/DebugDrawerTopic.h>
 
#include <VisionX/interface/libraries/SemanticObjectRelations/ShapesTopic.h>
#include <VisionX/interface/components/SegmentRansacShapeExtractor.h>
#include <VisionX/components/pointcloud_core/PointCloudProcessor.h>
 
 
namespace visionx
{
 
    /**
     * @class SegmentRansacShapeExtractorPropertyDefinitions
     * @brief Property definitions of `SegmentRansacShapeExtractor`.
     */
    class SegmentRansacShapeExtractorPropertyDefinitions :
        public visionx::PointCloudProcessorPropertyDefinitions
    {
    public:
        SegmentRansacShapeExtractorPropertyDefinitions(std::string prefix);
    };
 
 
    /**
     * @defgroup Component-SegmentRansacShapeExtractor SegmentRansacShapeExtractor
     * @ingroup VisionX-Components
     * A description of the component SegmentRansacShapeExtractor.
     *
     * @class SegmentRansacShapeExtractor
     * @ingroup Component-SegmentRansacShapeExtractor
     * @brief Brief description of class SegmentRansacShapeExtractor.
     *
     * Detailed description of class SegmentRansacShapeExtractor.
     */
    class SegmentRansacShapeExtractor :
        virtual public visionx::PointCloudProcessor,
        virtual public visionx::SegmentRansacShapeExtractorInterface
    {
        /// The used point type.
        using PointT = pcl::PointXYZRGBL;
 
    public:
 
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
 
        // SegmentRansacShapeExtractorInterface interface
        armarx::semantic::data::ShapeList extractShapes(const Ice::Current& = Ice::emptyCurrent) override;
        armarx::semantic::data::ShapeList getExtractedShapes(const Ice::Current& = Ice::emptyCurrent) override;
 
 
    protected:
 
        /// @see visionx::PointCloudProcessor::onInitPointCloudProcessor()
        void onInitPointCloudProcessor() override;
 
        /// @see visionx::PointCloudProcessor::onConnectPointCloudProcessor()
        void onConnectPointCloudProcessor() override;
 
        /// @see visionx::PointCloudProcessor::onDisconnectPointCloudProcessor()
        void onDisconnectPointCloudProcessor() override;
 
        /// @see visionx::PointCloudProcessor::onExitPointCloudProcessor()
        void onExitPointCloudProcessor() override;
 
 
        /// @see visionx::PointCloudProcessor::process()
        void process() override;
 
 
        /// @see PropertyUser::createPropertyDefinitions()
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
 
    private:
 
 
        // INPUT
 
        std::mutex inputPointCloudMutex;
 
        /// The latest received point cloud.
        pcl::PointCloud<pcl::PointXYZRGBL>::Ptr inputPointCloud;
 
 
        // PROCESSING
 
        /// Locked while process is running.
        std::mutex extractionMutex;
 
        /// The shape extraction.
        semrel::ShapeExtraction shapeExtraction;
 
        armarx::SimpleRunningTask<>::pointer_type shapeExtractionTask;
 
 
        // RESULT
 
        struct ExtractedShapes
        {
 
            /// Protects `extractedShapes` and `extractedShapesIce`.
            std::mutex mutex;
 
            /// The result of the latest processed point cloud.
            semrel::ShapeList shapes;
 
            /// Serialized version of `shapes`. Is kept up to date.
            armarx::semantic::data::ShapeList shapesIce;
        };
 
        ExtractedShapes extractedShapes;
 
 
        // ICE
 
        armarx::DebugObserverInterfacePrx debugObserver;
        armarx::DebugDrawerTopic debugDrawer;
 
        std::string shapesName;
        armarx::semantic::ShapesTopicPrx shapesTopic;
 
    };
}