VisionMemory.h
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1 /*
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @package VisionX::ArmarXObjects::ArMemVisionMemory
17  * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
18  * @date 2020
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #pragma once
24 
26 
28 
29 // segments
32 
33 namespace armarx::armem::server
34 {
35  /**
36  * @defgroup Component-ArMemVisionMemory ArMemVisionMemory
37  * @ingroup VisionX-Components
38  * A description of the component ArMemVisionMemory.
39  *
40  * @class ArMemVisionMemory
41  * @ingroup Component-ArMemVisionMemory
42  * @brief Brief description of class ArMemVisionMemory.
43  *
44  * Detailed description of class ArMemVisionMemory.
45  */
46  class VisionMemory :
47  virtual public armarx::Component,
49  {
50  public:
51  VisionMemory();
52 
53  std::string getDefaultName() const override;
54 
55 
56  protected:
58 
59  void onInitComponent() override;
60  void onConnectComponent() override;
61  void onDisconnectComponent() override;
62  void onExitComponent() override;
63 
64 
65  private:
66  struct Properties
67  {
68  long imageRGBMaxHistorySize = 20;
69  long imageDepthMaxHistorySize = 20;
70  long occupancyGridMaxHistorySize = 20;
71 
72  long pointCloudMaxHistorySize = 20;
73  };
74 
75  Properties properties;
76 
77  // segments
79  pointCloudXYZCoreSegment;
81  pointCloudXYZLCoreSegment;
83  pointCloudXYZRGBACoreSegment;
85  pointCloudXYZRGBLCoreSegment;
86 
88  monocularCameraCalibrationCoreSegment;
90  stereoCameraCalibrationCoreSegment;
91  };
92 } // namespace armarx::armem::server
armarx::armem::server::VisionMemory::onExitComponent
void onExitComponent() override
Hook for subclass.
Definition: VisionMemory.cpp:116
visionx::armem::pointcloud::server::segment::PointCloudXYZRGBACoreSegment
Definition: PointCloudCoreSegment.h:48
armarx::armem::server::VisionMemory::onConnectComponent
void onConnectComponent() override
Pure virtual hook for the subclass.
Definition: VisionMemory.cpp:106
armarx::armem::server::VisionMemory::VisionMemory
VisionMemory()
Definition: VisionMemory.cpp:52
armarx::armem::server::VisionMemory::onInitComponent
void onInitComponent() override
Pure virtual hook for the subclass.
Definition: VisionMemory.cpp:71
ReadWritePluginUser.h
armarx::armem::server::VisionMemory::getDefaultName
std::string getDefaultName() const override
Retrieve default name of component.
Definition: VisionMemory.cpp:65
armarx::armem::server::VisionMemory::createPropertyDefinitions
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
Definition: VisionMemory.cpp:35
armarx::armem::server::VisionMemory::onDisconnectComponent
void onDisconnectComponent() override
Hook for subclass.
Definition: VisionMemory.cpp:111
armarx::armem::server::VisionMemory
Definition: VisionMemory.h:46
visionx::armem::camera::server::segment::StereoCameraCalibrationCoreSegment
Definition: CameraCalibrationCoreSegment.h:19
armarx::armem::server::plugins::ReadWritePluginUser
Base class of memory server components.
Definition: ReadWritePluginUser.h:20
visionx::armem::pointcloud::server::segment::PointCloudXYZCoreSegment
Definition: PointCloudCoreSegment.h:36
visionx::armem::pointcloud::server::segment::PointCloudXYZLCoreSegment
Definition: PointCloudCoreSegment.h:42
PointCloudCoreSegment.h
Component.h
armarx::Component
Baseclass for all ArmarX ManagedIceObjects requiring properties.
Definition: Component.h:95
armarx::armem::server
Definition: GraspMemory.cpp:19
CameraCalibrationCoreSegment.h
IceUtil::Handle< class PropertyDefinitionContainer >
visionx::armem::camera::server::segment::MonocularCameraCalibrationCoreSegment
Definition: CameraCalibrationCoreSegment.h:11
visionx::armem::pointcloud::server::segment::PointCloudXYZRGBLCoreSegment
Definition: PointCloudCoreSegment.h:54