VisionMemory.cpp

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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
 */
 
#include "VisionMemory.h"
 
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_vision/aron/OccupancyGrid.aron.generated.h>
 
#include <VisionX/libraries/armem/vision/images/core/aron/ImageDepth.aron.generated.h>
#include <VisionX/libraries/armem/vision/images/core/aron/ImageRGB.aron.generated.h>
 
namespace armarx::armem::server
{
 
    armarx::PropertyDefinitionsPtr
    VisionMemory::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr defs =
            new ComponentPropertyDefinitions(getConfigIdentifier());
        defs->optional(properties.imageRGBMaxHistorySize, "imageRGBMaxHistorySize");
        defs->optional(properties.imageDepthMaxHistorySize, "imageDepthMaxHistorySize");
        defs->optional(properties.occupancyGridMaxHistorySize, "occupancyGridMaxHistorySize");
        defs->optional(properties.pointCloudMaxHistorySize, "pointCloudMaxHistorySize");
 
        pointCloudXYZCoreSegment.defineProperties(defs, "pcxyz.");
        pointCloudXYZLCoreSegment.defineProperties(defs, "pcxyzl.");
        pointCloudXYZRGBACoreSegment.defineProperties(defs, "pcxyzrgba.");
        pointCloudXYZRGBLCoreSegment.defineProperties(defs, "pcxyzrgbl.");
 
        return defs;
    }
 
    VisionMemory::VisionMemory() :
        pointCloudXYZCoreSegment(iceAdapter(), properties.pointCloudMaxHistorySize),
        pointCloudXYZLCoreSegment(iceAdapter(), properties.pointCloudMaxHistorySize),
        pointCloudXYZRGBACoreSegment(iceAdapter(), properties.pointCloudMaxHistorySize),
        pointCloudXYZRGBLCoreSegment(iceAdapter(), properties.pointCloudMaxHistorySize),
 
        monocularCameraCalibrationCoreSegment(iceAdapter(), -1),
        stereoCameraCalibrationCoreSegment(iceAdapter(), -1)
    {
        setMemoryName("Vision");
    }
 
    std::string
    VisionMemory::GetDefaultName()
    {
        return "VisionMemory";
    }
 
    std::string
    VisionMemory::getDefaultName() const
    {
        return GetDefaultName();
    }
 
    void
    VisionMemory::onInitComponent()
    {
        // Initialize default segments
        {
            wm::CoreSegment& cs = workingMemory().addCoreSegment(
                "ImageRGB", visionx::armem_images::arondto::ImageRGB::ToAronType());
            cs.setMaxHistorySize(properties.imageRGBMaxHistorySize);
        }
 
        {
            wm::CoreSegment& cs = workingMemory().addCoreSegment(
                "ImageDepth", visionx::armem_images::arondto::ImageDepth::ToAronType());
            cs.setMaxHistorySize(properties.imageDepthMaxHistorySize);
        }
 
        {
            wm::CoreSegment& cs = workingMemory().addCoreSegment(
                "OccupancyGrid", armem::vision::arondto::OccupancyGrid::ToAronType());
            cs.setMaxHistorySize(properties.occupancyGridMaxHistorySize);
        }
 
        {
            pointCloudXYZCoreSegment.init();
            pointCloudXYZLCoreSegment.init();
            pointCloudXYZRGBACoreSegment.init();
            pointCloudXYZRGBLCoreSegment.init();
        }
 
        {
            monocularCameraCalibrationCoreSegment.init();
            stereoCameraCalibrationCoreSegment.init();
        }
    }
 
    void
    VisionMemory::onConnectComponent()
    {
    }
 
    void
    VisionMemory::onDisconnectComponent()
    {
    }
 
    void
    VisionMemory::onExitComponent()
    {
    }
 
 
    ARMARX_REGISTER_COMPONENT_EXECUTABLE(::armarx::armem::server::VisionMemory, ::armarx::armem::server::VisionMemory::GetDefaultName());
} // namespace armarx::armem::server