ArMemToImage.h

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#pragma once
 
#include <memory>
#include <vector>
 
#include <Eigen/Core>
 
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 
#include <VisionX/libraries/armem/vision/images/core/Image.h>
#include <VisionX/libraries/armem/vision/images/core/detail/ImageAdapter.h>
 
namespace visionx::armem_images
{
 
    class ArMemToImage : public detail::ImageAdapter
    {
    public:
        ArMemToImage();
 
        void addImagesRGB(const armarx::armem::MemoryID& entityID,
                          const std::vector<size_t>& imageIndices) override;
        void addImagesDepth(const armarx::armem::MemoryID& entityID,
                            const std::vector<size_t>& imageIndices) override;
 
        armarx::armem::MemoryID getMemoryID() const override;
        Eigen::Vector2i getImageDimensions() const;
 
        std::string summarizeStructure() const override;
        std::string printFormats() const;
 
 
        void fetchUpdates(const armarx::armem::MemoryID& entityID,
                          const std::vector<armarx::armem::MemoryID>& updatedSnapshotIDs);
 
        armarx::armem::client::QueryResult fetchLatest();
 
 
    private:
        template <class AronImageT>
        void addImages(const armarx::armem::MemoryID& entityID,
                       const std::vector<size_t>& imageIndices);
 
        void updateAronImages(const armarx::armem::wm::Memory& memory);
 
 
    public:
        armarx::armem::client::Reader memoryReader;
 
        std::vector<std::unique_ptr<ImageBase>> images;
        armarx::armem::Time timestamp;
        bool updated;
    };
 
} // namespace visionx::armem_images