UserAssistedSegmenter.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    SceneUnderstanding::ArmarXObjects::UserAssistedSegmenter
 * @author     Rainer Kartmann ( rainer dot kartmann at student dot kit dot edu )
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 
#include <VisionX/components/pointcloud_core/PointCloudProcessor.h>
#include <VisionX/interface/components/UserAssistedSegmenter.h>
 
 
namespace visionx
{
    /// UserAssistedSegmenterPropertyDefinitions
    class UserAssistedSegmenterPropertyDefinitions :
        public visionx::PointCloudProcessorPropertyDefinitions
    {
    public:
        UserAssistedSegmenterPropertyDefinitions(std::string prefix);
    };
 
 
    /**
     * @defgroup Component-UserAssistedSegmenter UserAssistedSegmenter
     * @ingroup VisionX-Components
     *
     * UserAssistedSegmenter is used to manually group segments of an over-
     * segmentation (e.g. LCCP, Region-Growing) to new segments.
     *
     *
     * @class UserAssistedSegmenter
     * @ingroup Component-UserAssistedSegmenter
     * @brief Brief description of class UserAssistedSegmenter.
     *
     * Detailed description of class UserAssistedSegmenter.
     */
    class UserAssistedSegmenter :
        virtual public visionx::PointCloudProcessor,
        virtual public visionx::UserAssistedSegmenterInterface
    {
        using PointL = pcl::PointXYZRGBL;
        using PointCloudL = pcl::PointCloud<PointL>;
        using PointCloudLPtr = PointCloudL::Ptr;
 
 
    public:
 
        /// @see armarx::ManagedIceObject::getDefaultName()
        virtual std::string getDefaultName() const override;
 
        // UserAssistedSegmenterInterface interface
        virtual void publishSegmentation(const visionx::ColoredLabeledPointCloud& pointCloud,
                                         const Ice::Current& = Ice::emptyCurrent) override;
 
        void provideResultPointCloud();
 
 
    protected:
 
        /// @see visionx::PointCloudProcessor::onInitPointCloudProcessor()
        virtual void onInitPointCloudProcessor() override;
 
        /// @see visionx::PointCloudProcessor::onConnectPointCloudProcessor()
        virtual void onConnectPointCloudProcessor() override;
 
        /// @see visionx::PointCloudProcessor::onDisconnectPointCloudProcessor()
        virtual void onDisconnectPointCloudProcessor() override;
 
        /// @see visionx::PointCloudProcessor::onExitPointCloudProcessor()
        virtual void onExitPointCloudProcessor() override;
 
        /// @see visionx::PointCloudProcessor::process()
        virtual void process() override;
 
 
    private:
 
        std::string resultPointCloudName;
 
        float publishFrequency;
 
        visionx::UserAssistedSegmenterListenerPrx updatesListener;
 
        PointCloudLPtr resultPointCloud;
 
        armarx::PeriodicTask<UserAssistedSegmenter>::pointer_type provideTask;
 
 
    protected:
 
        /// @see PropertyUser::createPropertyDefinitions()
        virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    };
}