ImageSourceSelection.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::ImageSourceSelection
 * @author     Markus Grotz ( markus dot grotz at kit dot edu )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <mutex>
#include <vector>
 
#include <SimoxUtility/algorithm/string/string_tools.h>
 
#include <VisionX/core/ImageProcessor.h>
#include <VisionX/interface/components/Calibration.h>
#include <VisionX/interface/components/ImageSourceSelectionInterface.h>
 
namespace armarx
{
 
    class StereoResultImageProvider;
 
    static std::vector<std::string>
    stringToVector(std::string propertyValue)
    {
        std::vector<std::string> result = simox::alg::split(propertyValue, "\t ,");
        return result;
    }
 
    /**
     * @class ImageSourceSelectionPropertyDefinitions
     * @brief
     */
    class ImageSourceSelectionPropertyDefinitions :
        public visionx::ImageProcessorPropertyDefinitions
    {
    public:
        ImageSourceSelectionPropertyDefinitions(std::string prefix) :
            visionx::ImageProcessorPropertyDefinitions(prefix)
        {
            defineOptionalProperty<visionx::ImageDimension>(
                "TargetDimension", visionx::ImageDimension(640, 480), "")
                .setCaseInsensitive(true)
                .map("320x240", visionx::ImageDimension(320, 240))
                .map("640x480", visionx::ImageDimension(640, 480))
                .map("800x600", visionx::ImageDimension(800, 600))
                .map("768x576", visionx::ImageDimension(768, 576))
                .map("1024x768", visionx::ImageDimension(1024, 768))
                .map("1280x720", visionx::ImageDimension(1280, 960))
                .map("1280x960", visionx::ImageDimension(1280, 960))
                .map("1280x1024", visionx::ImageDimension(1280, 960))
                .map("1600x1200", visionx::ImageDimension(1600, 1200))
                .map("1920x1080", visionx::ImageDimension(1920, 1080))
                .map("1920x1200", visionx::ImageDimension(1920, 1200));
            defineOptionalProperty<int>(
                "NumberOfImages",
                0,
                "If set to >0, this number of images will be reported. Otherwise, the number of "
                "images of the first image provider will be used.");
 
            defineOptionalProperty<std::string>(
                "resultProviderName", "Armar3ImageProvider", "Names of the result image provider");
            defineOptionalProperty<std::string>(
                "defaultProviderName",
                "RCImageProvider",
                "Name of the image provider to be used when no provider is set.");
            PropertyDefinition<std::vector<std::string>>::PropertyFactoryFunction f =
                &stringToVector;
            //            defineOptionalProperty<std::vector<std::string>>("providerNames", {"Armar3WideImageProvider", "Armar3FovealImageProvider"}, "Names of the image providers").setFactory(f);
        }
    };
 
    /**
     * @defgroup Component-ImageSourceSelection ImageSourceSelection
     * @ingroup VisionX-Components
     * A description of the component ImageSourceSelection.
     *
     * @class ImageSourceSelection
     * @ingroup Component-ImageSourceSelection
     * @brief Brief description of class ImageSourceSelection.
     *
     * Detailed description of class ImageSourceSelection.
     */
    class ImageSourceSelection :
        virtual public visionx::ImageProcessor,
        virtual public ImageSourceSelectionInterface
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "ImageSourceSelection";
        }
 
        void setImageSource(const std::string& imageSource,
                            int relativeTimeoutMs,
                            const Ice::Current& c) override;
 
        std::string
        getCurrentImageSource(const Ice::Current& c = Ice::emptyCurrent) override
        {
            std::unique_lock lock(imageSourceMutex);
            return providerTimeouts.empty() ? defaultProvider : providerTimeouts.begin()->first;
        }
 
    protected:
        void setImageSource(const std::string& imageSource);
        void removeImageSource(const std::string& imageSource);
        /**
         * enable stereo result images
         */
        void enableStereoResultImages(visionx::ImageDimension imageDimension,
                                      visionx::ImageType imageType);
 
        /**
         * @see visionx::ImageProcessor::onInitImageProcessor()
         */
        void onInitImageProcessor() override;
 
        /**
         * @see visionx::ImageProcessor::onConnectImageProcessor()
         */
        void onConnectImageProcessor() override;
 
        /**
         * @see visionx::ImageProcessor::onExitImageProcessor()
         */
        void onExitImageProcessor() override;
 
        /**
         * @see visionx::ImageProcessor::process()
         */
        void process() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        bool
        addImageProvider(const std::string& providerName)
        {
            return addImageProvider(providerName, imageDisplayType, imageProviderInfo);
        }
 
        bool addImageProvider(const std::string& providerName,
                              visionx::ImageType imageDisplayType,
                              visionx::ImageProviderInfo& imageProviderInfo);
 
    private:
        visionx::ImageDimension targetDimension;
        float scaleFactorX, scaleFactorY;
 
        std::recursive_mutex mutex, imageSourceMutex;
 
        std::map<std::string, visionx::CByteImageUPtrVec> cameraImages;
        visionx::CByteImageUPtrVec resultCameraImages;
        int numImages;
 
        //        std::vector<std::string> providers;
        std::string defaultProvider;
        //        std::string activeProvider;
        visionx::ImageType imageDisplayType;
        visionx::ImageProviderInfo imageProviderInfo;
 
        std::vector<std::pair<std::string, IceUtil::Time>> providerTimeouts;
        void deleteTimedOutProviders();
    };
 
    class StereoResultImageProvider :
        virtual public visionx::ResultImageProvider,
        virtual public visionx::StereoCalibrationProviderInterface
    {
        friend class ImageSourceSelection;
 
    public:
        StereoResultImageProvider() : visionx::ResultImageProvider()
        {
        }
 
        visionx::StereoCalibration
        getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return stereoCalibration;
        }
 
        bool
        getImagesAreUndistorted(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return imagesAreUndistorted;
        }
 
        std::string
        getReferenceFrame(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return referenceFrame;
        }
 
        void
        setStereoCalibration(visionx::StereoCalibration stereoCalibration,
                             bool imagesAreUndistorted,
                             const std::string& referenceFrame)
        {
            this->stereoCalibration = stereoCalibration;
            this->imagesAreUndistorted = imagesAreUndistorted;
            this->referenceFrame = referenceFrame;
            calibrationPrx->reportStereoCalibrationChanged(
                this->stereoCalibration, this->imagesAreUndistorted, this->referenceFrame);
        }
 
    protected:
        void
        onInitImageProvider() override
        {
            visionx::ResultImageProvider::onInitImageProvider();
            offeringTopic("StereoCalibrationInterface");
        }
 
        void
        onConnectImageProvider() override
        {
            visionx::ResultImageProvider::onConnectImageProvider();
            calibrationPrx =
                getTopic<StereoCalibrationUpdateInterfacePrx>("StereoCalibrationInterface");
        }
 
    private:
        visionx::StereoCalibration stereoCalibration;
        bool imagesAreUndistorted;
        StereoCalibrationUpdateInterfacePrx calibrationPrx;
        std::string referenceFrame;
    };
 
    using StereoResultImageProviderPtr = IceInternal::Handle<StereoResultImageProvider>;
 
} // namespace armarx