ArmarXVisualizer.h

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#pragma once
 
#include <ArmarXCore/core/Component.h>
 
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
 
#include <SemanticObjectRelations/Hooks/VisualizerInterface.h>
 
namespace armarx::semantic
{
 
    /**
     * @brief Implementation of semrel::VisualizerInterface for ArmarX
     * (using the DebugDrawer).
     */
    class ArmarXVisualizer : public semrel::VisualizerInterface
    {
    public:
        static void setAsImplementation(const armarx::DebugDrawerInterfacePrx& debugDrawer);
 
        ArmarXVisualizer(armarx::DebugDrawerInterfacePrx const& debugDrawer);
 
        virtual void clearAll() override;
        virtual void clearLayer(const std::string& layer) override;
 
        virtual void drawLine(semrel::VisuMetaInfo id,
                              const Eigen::Vector3f& start,
                              const Eigen::Vector3f& end,
                              float lineWidth,
                              semrel::DrawColor color) override;
        virtual void drawArrow(semrel::VisuMetaInfo id,
                               const Eigen::Vector3f& origin,
                               const Eigen::Vector3f& direction,
                               float length,
                               float width,
                               semrel::DrawColor color) override;
        virtual void
        drawBox(semrel::VisuMetaInfo id, const semrel::Box& box, semrel::DrawColor color) override;
        virtual void drawCylinder(semrel::VisuMetaInfo id,
                                  const semrel::Cylinder& cylinder,
                                  semrel::DrawColor color) override;
        virtual void drawSphere(semrel::VisuMetaInfo id,
                                const semrel::Sphere& sphere,
                                semrel::DrawColor color) override;
        virtual void drawPolygon(semrel::VisuMetaInfo id,
                                 const std::vector<Eigen::Vector3f>& polygonPoints,
                                 float lineWidth,
                                 semrel::DrawColor colorInner,
                                 semrel::DrawColor colorBorder) override;
        virtual void drawTriMesh(semrel::VisuMetaInfo id,
                                 const semrel::TriMesh& mesh,
                                 semrel::DrawColor color) override;
        virtual void drawText(semrel::VisuMetaInfo id,
                              const std::string& text,
                              const Eigen::Vector3f& position,
                              float size,
                              semrel::DrawColor color) override;
        virtual void drawPointCloud(semrel::VisuMetaInfo id,
                                    const std::vector<Eigen::Vector3f>& cloud,
                                    float pointSize,
                                    semrel::DrawColor color) override;
 
    private:
        armarx::DebugDrawerInterfacePrx drawer;
    };
} // namespace armarx::semantic
 
namespace armarx::semantic::properties::defaults
{
    extern const std::string visualizationLevelName;
    extern const std::string visualizationLevelDescription;
} // namespace armarx::semantic::properties::defaults
 
namespace armarx::semantic::properties
{
 
    void defineVisualizationLevel(
        armarx::ComponentPropertyDefinitions& defs,
        const std::string& propertyName = defaults::visualizationLevelName,
        semrel::VisuLevel defaultLevel = semrel::VisuLevel::RESULT,
        const std::string& description = defaults::visualizationLevelDescription);
 
    semrel::VisuLevel
    getVisualizationLevel(armarx::PropertyUser& defs,
                          const std::string& propertyName = defaults::visualizationLevelName);
 
    void setMinimumVisuLevel(armarx::PropertyUser& defs,
                             const std::string& propertyName = defaults::visualizationLevelName);
 
} // namespace armarx::semantic::properties