PrimitiveVisualization.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::PrimitiveVisualization
 * @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 <ArmarXCore/core/Component.h>
 
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
#include <VisionX/interface/components/PointCloudSegmenter.h>
 
#include <MemoryX/core/memory/SegmentedMemory.h>
#include <MemoryX/interface/components/WorkingMemoryInterface.h>
#include <MemoryX/libraries/memorytypes/segment/EnvironmentalPrimitiveSegment.h>
 
namespace armarx
{
 
    enum PLANE_VISUALIZATION_METHOD
    {
        Hull,
        Inlier,
        Obb,
        Rectangle
    };
 
    /**
     * @class PrimitiveVisualizationPropertyDefinitions
     * @brief
     */
    class PrimitiveVisualizationPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        PrimitiveVisualizationPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "WorkingMemoryName", "WorkingMemory", "Name of WorkingMemory component");
            defineOptionalProperty<PLANE_VISUALIZATION_METHOD>(
                "PlaneVisualizationMethod",
                Hull,
                "Visualize planes as boxes, as rectangles or as convex hulls")
                .map("Inlier", Inlier)
                .map("Hull", Hull)
                .map("OBB", Obb)
                .map("Box", Obb)
                .map("ConvexHull", Hull)
                .map("Rectangle", Rectangle);
        }
    };
 
    /**
     * @defgroup Component-PrimitiveVisualization PrimitiveVisualization
     * @ingroup VisionX-Components
     * A description of the component PrimitiveVisualization.
     *
     * @class PrimitiveVisualization
     * @ingroup Component-PrimitiveVisualization
     * @brief Brief description of class PrimitiveVisualization.
     *
     * Detailed description of class PrimitiveVisualization.
     */
    class PrimitiveVisualization :
        virtual public armarx::Component,
        virtual public visionx::PointCloudSegmentationListener,
        virtual public armarx::ArVizComponentPluginUser
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "PrimitiveVisualization";
        }
 
        void reportNewPointCloudSegmentation(const Ice::Current& c = Ice::emptyCurrent) override;
 
    protected:
        /**
         * @see armarx::ManagedIceObject::onInitComponent()
         */
        void onInitComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onConnectComponent()
         */
        void onConnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onDisconnectComponent()
         */
        void onDisconnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onExitComponent()
         */
        void onExitComponent() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
 
    protected:
        DebugDrawerInterfacePrx debugDrawer;
 
        memoryx::WorkingMemoryInterfacePrx workingMemory;
        memoryx::EnvironmentalPrimitiveSegmentBasePrx environmentalPrimitiveSegment;
 
 
    private:
        void clearDebugLayer();
 
        std::mutex mutex;
 
        viz::Color getPrimitiveColor(const memoryx::EnvironmentalPrimitiveBasePtr& primitive);
 
        void visualizePrimitive(const memoryx::EnvironmentalPrimitiveBasePtr& primitive,
                                viz::Color color);
        void visualizePlane(const memoryx::PlanePrimitiveBasePtr& plane, viz::Color color);
        void visualizeSphere(const memoryx::SpherePrimitiveBasePtr& sphere, viz::Color color);
        void visualizeCylinder(const memoryx::CylinderPrimitiveBasePtr& cylinder, viz::Color color);
 
        viz::Color primitiveColorFrame;
 
        viz::Layer layer = {};
    };
} // namespace armarx