ArMemToPointCloudProvider.h

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#pragma once
 
// STD/STL
#include <mutex>
 
// PCL
#include <pcl/point_types.h>
 
// Base Classes
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
 
#include <RobotAPI/libraries/armem/client/plugins.h>
#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
 
#include <VisionX/components/pointcloud_core/PointCloudProvider.h>
#include <VisionX/components/pointcloud_provider/ArMemToPointCloudProvider/ArMemToPointCloudProviderInterface.h>
 
// Memory stuff
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
 
#include <VisionX/libraries/armem/vision/pointcloud/core/aron/PointCloudXYZ.aron.generated.h>
#include <VisionX/libraries/armem/vision/pointcloud/core/aron/PointCloudXYZL.aron.generated.h>
#include <VisionX/libraries/armem/vision/pointcloud/core/aron/PointCloudXYZRGBA.aron.generated.h>
#include <VisionX/libraries/armem/vision/pointcloud/core/aron/PointCloudXYZRGBL.aron.generated.h>
 
// pc
#include <VisionX/libraries/armem/vision/pointcloud/client/constants.h>
#include <VisionX/libraries/armem/vision/pointcloud/core/constants.h>
 
namespace visionx
{
 
    class ArMemToPointCloudProvider :
        public visionx::ArMemToPointCloudProviderInterface,
        public visionx::PointCloudProvider,
        public armarx::armem::ListeningClientPluginUser
    {
    public:
        ArMemToPointCloudProvider();
        std::string getDefaultName() const override;
        static std::string GetDefaultName();
 
        MetaPointCloudFormatPtr getDefaultPointCloudFormat() override;
 
    protected:
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void onInitPointCloudProvider() override;
        void onConnectPointCloudProvider() override;
        void onExitPointCloudProvider() override;
 
 
    private:
        template <class PointT>
        void registerToUpdates();
 
        template <class PointT, class AronT>
        void queryAndProvide();
 
        void processUpdates(const armarx::armem::MemoryID& entityID,
                            const std::vector<armarx::armem::MemoryID>& updatedSnapshotIDs);
 
        void runPolling();
 
    private:
        struct Properties
        {
            std::string memoryName = "Vision";
            std::string coreSegmentName = "(auto)";
            std::string providerSegmentName = "ProviderSegmentName";
            std::string entityName = visionx::armem::pointcloud::ENTITY_NAME;
            std::string pointtype = visionx::armem::pointcloud::POINT_XYZRGBA_SLUG;
            std::string elementPath = "pointcloud";
            std::string elementPathDelimiter = armarx::aron::Path::DEFAULT_DELIMETER;
            std::string robotName = "Armar6";
 
            std::string frame = "AzureKinectCamera";
 
            unsigned int width = 400000;
            unsigned int height = 1;
 
            template <class PointT>
            std::string getCoreSegmentName() const;
 
            bool convertToGlobalFrame = true;
        };
 
        Properties p;
 
        // misc
        std::atomic_bool processing = false;
 
        // memory stuff
        armarx::armem::client::Reader memoryReader;
 
        template <typename T>
        using ReaderWriterPlugin = armarx::armem::client::plugins::ReaderWriterPlugin<T>;
 
 
        ReaderWriterPlugin<armarx::armem::robot_state::VirtualRobotReader>*
            virtualRobotReaderPlugin = nullptr;
 
        armarx::SimpleRunningTask<>::pointer_type pollingTask;
    };
} // namespace visionx