ImageReader.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::armem_images
 * @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 <RobotAPI/libraries/armem/client/util/SimpleReaderBase.h>
 
#include <VisionX/interface/components/Calibration.h>
#include <VisionX/libraries/armem/vision/camera/core/aron/CameraCalibration.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>
#include <VisionX/libraries/armem/vision/images/core/constants.h>
 
#include <Calibration/Calibration.h>
#include <Calibration/StereoCalibration.h>
#include <Image/ByteImage.h>
 
namespace visionx::armem_images::client
{
    namespace detail
    {
        class RGBImageReader : public armarx::armem::client::util::SimpleReaderBase
        {
        public:
            using Base = armarx::armem::client::util::SimpleReaderBase;
 
            RGBImageReader() = default;
 
            void getLatestRGBImages(const std::string& providerSegmentName,
                                    std::vector<cv::Mat>& ret);
            std::vector<CByteImage*>
            getLatestRGBCByteImages(const std::string& providerSegmentName);
 
        protected:
            std::string propertyPrefix() const final;
            Properties defaultProperties() const final;
 
        private:
        };
 
        class DepthImageReader : public armarx::armem::client::util::SimpleReaderBase
        {
        public:
            using Base = armarx::armem::client::util::SimpleReaderBase;
 
            DepthImageReader() = default;
 
 
            std::vector<cv::Mat> getLatestDepthImages(const std::string& providerSegmentName);
 
        protected:
            std::string propertyPrefix() const final;
            Properties defaultProperties() const final;
 
        private:
        };
 
        class CameraCalibrationReader : public armarx::armem::client::util::SimpleReaderBase
        {
        public:
            using Base = armarx::armem::client::util::SimpleReaderBase;
 
            CameraCalibrationReader() = default;
 
 
            std::optional<visionx::StereoCalibration>
            getStereoCameraCalibration(const std::string& providerSegmentName);
            //visionx::Calibration getMonoCameraCalibration(const std::string& providerSegmentName);
 
        protected:
            std::string propertyPrefix() const final;
            Properties defaultProperties() const final;
 
        private:
        };
    } // namespace detail
 
    class ImageReader
    {
    public:
        ImageReader() = default;
 
        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
        virtual void connect(armarx::armem::client::MemoryNameSystem& mns);
 
        void getLatestRGBImages(const std::string& providerSegmentName, std::vector<cv::Mat>& ret);
        std::vector<CByteImage*> getLatestRGBCByteImages(const std::string& providerSegmentName);
        std::vector<cv::Mat> getLatestDepthImages(const std::string& providerSegmentName);
        std::optional<visionx::StereoCalibration>
        getStereoCameraCalibration(const std::string& providerSegmentName);
        //visionx::Calibration getMonoCameraCalibration(const std::string& providerSegmentName); //not yet supported
 
    private:
        detail::RGBImageReader rgbReader;
        detail::DepthImageReader depthReader;
        detail::CameraCalibrationReader cameraCalibrationReader;
    };
} // namespace visionx::armem_images::client