HumanPoseWriter.h

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#pragma once
 
 
#include <mutex>
#include <optional>
#include <string>
 
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
 
#include <VisionX/libraries/armem_human/aron/HumanPose.aron.generated.h>
#include <VisionX/libraries/armem_human/server/HumanMemoryServerInterface.h>
#include <VisionX/libraries/armem_human/types.h>
 
namespace armarx::armem::human::client
{
 
    class Writer : virtual public armem::client::util::SimpleWriterBase
    {
    public:
        using armem::client::util::SimpleWriterBase::SimpleWriterBase;
 
        Writer();
 
        ~Writer() override;
 
        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
        void connect(armem::client::MemoryNameSystem& memoryNameSystem);
 
        std::string
        propertyPrefix() const override
        {
            return "mem.human.pose.";
        };
 
        Properties
        defaultProperties() const override
        {
            return Properties{.memoryName = "Human", .coreSegmentName = "Pose", .providerName = ""};
        };
 
        // FIXME remove provider, add to c'tor
        bool commitHumanPose(const HumanPose& humanPose,
                             const std::string& provider,
                             const armem::Time& referencedTime);
 
        bool commitHumanPoses(const std::vector<HumanPose>& humanPoses,
                              const std::string& provider,
                              const armem::Time& referencedTime);
 
        bool commitHumanPoseInCameraFrame(const HumanPose& humanPose,
                                          const std::string& provider,
                                          const armem::Time& referencedTime);
 
        /**
         * @brief Calls a dedicated interface of the human memory in order to resolve keypoints
         *        in several frames given the detection in the camera frame.
         * @param humanPose
         * @param provider
         * @return
         */
        bool commitHumanPosesInCameraFrame(const std::vector<HumanPose>& humanPoses,
                                           const std::string& provider,
                                           const armem::Time& referencedTime);
 
    private:
        armem::human::HumanMemoryServerInterfacePrx humanMemory;
    };
 
} // namespace armarx::armem::human::client