Visualization.h

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#pragma once
 
 
#include <optional>
#include <vector>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
#include <ArmarXCore/libraries/DebugObserverHelper/DebugObserverHelper.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/libraries/armem_objects/types.h>
 
#include <VisionX/libraries/armem_human/server/PoseSegment.h>
#include <VisionX/libraries/armem_human/types.h>
#include <VisionX/libraries/ArViz/HumanPose.h>
 
 
namespace armarx::armem::server::human
{
 
    class Visu : public armarx::Logging
    {
    public:
        Visu(const PoseSegment& poseSegment);
 
        void defineProperties(armarx::PropertyDefinitionsPtr defs,
                              const std::string& prefix = "visu.");
        void init();
        void connect(const viz::Client& arviz, DebugObserverInterfacePrx debugObserver = nullptr);
 
    private:
        void visualizeRun();
        void visualizeOnce(const Time& timestamp);
 
        static void
        visualizeHumanPoses(armarx::viz::HumanPoseLayers& layers,
                            const std::vector<armarx::armem::human::HumanPose>& humanPoses);
 
    private:
        viz::Client arviz;
        std::optional<DebugObserverHelper> debugObserver;
 
        const PoseSegment& poseSegment;
 
        struct Properties
        {
            bool enabled = true;
            float frequencyHz = 25;
        } p;
 
        SimpleRunningTask<>::pointer_type updateTask;
    };
 
} // namespace armarx::armem::server::human