VisionMemory.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::ArMemVisionMemory
 * @author     Rainer Kartmann ( rainer dot kartmann 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>
 
#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
 
// segments
#include <VisionX/libraries/armem/vision/camera/server/segments/CameraCalibrationCoreSegment.h>
#include <VisionX/libraries/armem/vision/pointcloud/server/segments/PointCloudCoreSegment.h>
 
namespace armarx::armem::server
{
    /**
     * @defgroup Component-ArMemVisionMemory ArMemVisionMemory
     * @ingroup VisionX-Components
     * A description of the component ArMemVisionMemory.
     *
     * @class ArMemVisionMemory
     * @ingroup Component-ArMemVisionMemory
     * @brief Brief description of class ArMemVisionMemory.
     *
     * Detailed description of class ArMemVisionMemory.
     */
    class VisionMemory :
        virtual public armarx::Component,
        virtual public armem::server::ReadWritePluginUser
    {
    public:
        VisionMemory();
 
        static std::string GetDefaultName();
        std::string getDefaultName() const override;
 
 
    protected:
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
 
    private:
        struct Properties
        {
            long imageRGBMaxHistorySize = 20;
            long imageDepthMaxHistorySize = 20;
            long occupancyGridMaxHistorySize = 20;
 
            long pointCloudMaxHistorySize = 20;
        };
 
        Properties properties;
 
        // segments
        visionx::armem::pointcloud::server::segment::PointCloudXYZCoreSegment
            pointCloudXYZCoreSegment;
        visionx::armem::pointcloud::server::segment::PointCloudXYZLCoreSegment
            pointCloudXYZLCoreSegment;
        visionx::armem::pointcloud::server::segment::PointCloudXYZRGBACoreSegment
            pointCloudXYZRGBACoreSegment;
        visionx::armem::pointcloud::server::segment::PointCloudXYZRGBLCoreSegment
            pointCloudXYZRGBLCoreSegment;
 
        visionx::armem::camera::server::segment::MonocularCameraCalibrationCoreSegment
            monocularCameraCalibrationCoreSegment;
        visionx::armem::camera::server::segment::StereoCameraCalibrationCoreSegment
            stereoCameraCalibrationCoreSegment;
    };
} // namespace armarx::armem::server