ConfigureBodyTracking.cpp

Go to the documentation of this file.

/*
 * 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::AzureKinectGroup
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "ConfigureBodyTracking.h"
 
//#include <ArmarXCore/core/time/TimeUtil.h>
//#include <ArmarXCore/observers/variant/DatafieldRef.h>
 
namespace armarx::AzureKinectGroup
{
    // DO NOT EDIT NEXT LINE
    ConfigureBodyTracking::SubClassRegistry
        ConfigureBodyTracking::Registry(ConfigureBodyTracking::GetName(),
                                        &ConfigureBodyTracking::CreateInstance);
 
    void
    ConfigureBodyTracking::onEnter()
    {
        // put your user code for the enter-point here
        // execution time should be short (<100ms)
    }
 
    void
    ConfigureBodyTracking::run()
    {
        std::stringstream warn;
 
        AzureKinectPointCloudProviderInterfacePrx ak = getAzureKinectPointCloudProvider();
 
        if (in.isMaxDepthInMillimetersSet())
        {
            ak->setMaxDepthBodyTracking(in.getMaxDepthInMillimeters());
        }
 
        const bool isMinSet = in.isWidthMinPixelSet();
        const bool isMaxSet = in.isWidthMinPixelSet();
        if (isMinSet and isMaxSet)
        {
            ak->setWidthBodyTracking(in.getWidthMinPixel(), in.getWidthMaxPixel());
        }
        else if (isMinSet != isMaxSet)
        {
            if (isMinSet and not isMaxSet)
            {
                warn << "WidthMinPixel is set, but WidthMaxPixel is not.";
            }
            else
            {
                ARMARX_CHECK(not isMinSet);
                ARMARX_CHECK(isMaxSet);
                warn << "WidthMaxPixel is set, but WidthMinPixel is not.";
            }
            warn << "\nThese parameters only have an effect if set together.";
        }
 
        if (not warn.str().empty())
        {
            ARMARX_WARNING << warn.str();
        }
 
        emitSuccess();
    }
 
    //void ConfigureBodyTracking::onBreak()
    //{
    //    // put your user code for the breaking point here
    //    // execution time should be short (<100ms)
    //}
 
    void
    ConfigureBodyTracking::onExit()
    {
        // put your user code for the exit point here
        // execution time should be short (<100ms)
    }
 
    // DO NOT EDIT NEXT FUNCTION
    XMLStateFactoryBasePtr
    ConfigureBodyTracking::CreateInstance(XMLStateConstructorParams stateData)
    {
        return XMLStateFactoryBasePtr(new ConfigureBodyTracking(stateData));
    }
} // namespace armarx::AzureKinectGroup