ArMemToImageProvider.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::ArMemToImageProvider
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
 
#include <RobotAPI/libraries/armem/client/plugins.h>
 
#include <VisionX/core/ImageProcessor.h>
#include <VisionX/libraries/armem/vision/images/core/ArMemToImage.h>
#include <VisionX/libraries/armem/vision/images/core/ImagesProperties.h>
 
namespace visionx
{
 
    /**
     * @defgroup Component-ArMemToImageProvider ArMemToImageProvider
     * @ingroup VisionX-Components
     * A description of the component ArMemToImageProvider.
     *
     * @class ArMemToImageProvider
     * @ingroup Component-ArMemToImageProvider
     * @brief Brief description of class ArMemToImageProvider.
     *
     * Detailed description of class ArMemToImageProvider.
     */
    class ArMemToImageProvider :
        virtual public armarx::Component,
        virtual public armarx::armem::ListeningClientPluginUser
    {
    public:
        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:
        void enableResultImages(size_t numberImages,
                                ImageDimension imageDimension,
                                ImageType imageType,
                                const std::string& name);
        void fetchUpdates(const armarx::armem::MemoryID& entityID,
                          const std::vector<armarx::armem::MemoryID>& updatedSnapshotIDs);
 
 
    private:
        visionx::armem_images::ArMemToImage armemToImage;
        std::mutex armemToImageMutex;
 
        armarx::DebugObserverInterfacePrx debugObserver;
        IceInternal::Handle<ResultImageProvider> resultImageProvider;
 
        struct Properties
        {
            visionx::armem_images::ImagesProperties images;
 
            std::string providerSegmentName = "ProviderSegmentName";
            std::string resultImagesName = "(auto)";
            Eigen::Vector2i fallbackDims{640, 480};
        };
 
        Properties p;
    };
} // namespace visionx