PlaybackImageProvider.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::components
 * @author     Christian R. G. Dreher <c.dreher@kit.edu>
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
 
// STD/STL
#include <string>
 
// IVT
#include <Calibration/StereoCalibration.h>
 
// VisionX
#include <VisionX/core/CapturingImageProvider.h>
#include <VisionX/interface/components/Calibration.h>
#include <VisionX/libraries/armem/vision/images/server/ImageMemoryServer.h>
#include <VisionX/libraries/armem/vision/images/server/plugins/PluginUser.h>
#include <VisionX/libraries/imrec.h>
 
namespace visionx::components
{
 
    class PlaybackImageProvider :
        virtual public visionx::CapturingImageProvider,
        // virtual public StereoCalibrationCaptureProviderInterface,
        virtual public armem_images::server::ImageMemoryServer,
        virtual public armem_images::server::PluginUser
    {
    protected:
        std::vector<visionx::imrec::Playback> m_playbacks;
        double m_current_frame = 0;
        double m_frame_advance = 0;
 
        bool m_stereo_initialized = false;
        std::string m_stereo_calibration_file;
        std::string m_stereo_reference_frame;
        CStereoCalibration m_stereo_calibration_ivt;
        visionx::StereoCalibration m_stereo_calibration;
 
    public:
        PlaybackImageProvider();
        virtual ~PlaybackImageProvider() override;
 
        virtual void onInitCapturingImageProvider() override;
        virtual void onExitCapturingImageProvider() override;
        virtual void onStartCapture(float) override;
        virtual void onStopCapture() override;
        virtual bool capture(void** imageBuffer) override;
 
        virtual visionx::StereoCalibration
        getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override;
        virtual bool getImagesAreUndistorted(const Ice::Current& c = Ice::emptyCurrent) override;
        virtual std::string getReferenceFrame(const Ice::Current& c = Ice::emptyCurrent) override;
 
        virtual std::string getDefaultName() const override;
        virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    private:
        void init_stereo_calibration_file();
        void init_stereo_calibration();
        void assert_stereo_initialized();
    };
 
} // namespace visionx::components