SimpleEpisodicMemoryImageConnector.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::SimpleEpisodicMemoryImageConnector
 * @author     Fabian Peller ( fabian dot peller-konrad at kit dot edu )
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <ArmarXCore/core/Component.h>
 
// STD/STL
#include <memory>
#include <mutex>
#include <string>
#include <vector>
 
// IVT
#include <Image/ByteImage.h>
 
// Ice
#include <Ice/Current.h>
#include <IceUtil/Time.h>
 
// ArmarX
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <MemoryX/components/SimpleEpisodicMemory/SimpleEpisodicMemoryConnector.h>
#include <VisionX/core/ImageProcessor.h>
#include <VisionX/tools/ImageUtil.h>
#include <VisionX/interface/core/ImageProviderInterface.h>
 
namespace visionx
{
 
    class SimpleEpisodicMemoryImageConnectorPropertyDefinitions:
        public visionx::ImageProcessorPropertyDefinitions
    {
    public:
        SimpleEpisodicMemoryImageConnectorPropertyDefinitions(std::string prefix):
            visionx::ImageProcessorPropertyDefinitions(prefix)
        {
            defineRequiredProperty<std::string>("ImageProviderName", "Name of the ImageProviderComponent");
            defineOptionalProperty<unsigned int>("ImageProviderChannel", 0, "The image channel to use");
            defineOptionalProperty<std::string>("DebugDrawerTopicName", "DebugDrawerUpdates", "Name of the debug drawer topic that should be used");
        }
    };
 
 
    class SimpleEpisodicMemoryImageConnector :
        public memoryx::SimpleEpisodicMemoryConnector,
        public visionx::ImageProcessor
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string getDefaultName() const override
        {
            return "SimpleEpisodicMemoryImageConnector";
        }
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    protected:
        // ImageProcessor interface
        void onInitImageProcessor() override;
        void onConnectImageProcessor()  override;
        void onDisconnectImageProcessor() override;
        void onExitImageProcessor() override;
        void process() override;
 
    private:
        void checkForNewImages();
 
        // Meta (Properties)
        std::string m_image_provider_id;
        unsigned int m_image_provider_channel;
        visionx::ImageProviderInterface::ProxyType m_image_provider;
        visionx::ImageProviderInfo m_image_provider_info;
        armarx::MetaInfoSizeBase::PointerType m_image_meta_info;
        IceUtil::Time m_timestamp_last_image;
 
        // ImageBuffer und ImageInformations
        CByteImage** m_input_image_buf;
        CByteImage* m_input_image;
        std::mutex m_input_image_mutex;
 
        unsigned int num_of_received_images;
 
        // Threads and program flow information
        const unsigned int m_periodic_task_interval = 100;
        armarx::PeriodicTask<visionx::SimpleEpisodicMemoryImageConnector>::pointer_type m_periodic_task;
        bool m_image_received; // Is true, if new images are available (when mode is 'FromTopic' this also means that corresponding keypoints are available)
    };
}