LabeledPointCloudMerger.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::LabeledPointCloudMerger
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2019
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <pcl/point_types.h>
 
#include <IceUtil/Time.h>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
// #include <RobotAPI/libraries/core/visualization/DebugDrawerTopic.h>
 
#include <VisionX/components/pointcloud_core/PointCloudProcessor.h>
#include <VisionX/libraries/PointCloudTools/MergedLabeledPointCloud.h>
 
namespace visionx
{
 
    /**
     * @class LabeledPointCloudMergerPropertyDefinitions
     * @brief Property definitions of `LabeledPointCloudMerger`.
     */
    class LabeledPointCloudMergerPropertyDefinitions :
        public visionx::PointCloudProcessorPropertyDefinitions
    {
    public:
        LabeledPointCloudMergerPropertyDefinitions(std::string prefix);
    };
 
    /**
     * @defgroup Component-LabeledPointCloudMerger LabeledPointCloudMerger
     * @ingroup VisionX-Components
     * Merges several unlabeled and labeled point clouds from different
     * providers into one labeled point cloud. Unlabeled point clouds
     * receive constant labels (which do not already occur in other point
     * clouds).
     *
     * @class LabeledPointCloudMerger
     * @ingroup Component-LabeledPointCloudMerger
     * @brief Brief description of class LabeledPointCloudMerger.
     *
     * Detailed description of class LabeledPointCloudMerger.
     */
    class LabeledPointCloudMerger : virtual public visionx::PointCloudProcessor
    {
        /// The used point type.
        using PointT = pcl::PointXYZRGBL;
 
    public:
        /// @see armarx::ManagedIceObject::getDefaultName()
        std::string getDefaultName() const override;
 
 
    protected:
        /// @see visionx::PointCloudProcessor::onInitPointCloudProcessor()
        void onInitPointCloudProcessor() override;
 
        /// @see visionx::PointCloudProcessor::onConnectPointCloudProcessor()
        void onConnectPointCloudProcessor() override;
 
        /// @see visionx::PointCloudProcessor::onDisconnectPointCloudProcessor()
        void onDisconnectPointCloudProcessor() override;
 
        /// @see visionx::PointCloudProcessor::onExitPointCloudProcessor()
        void onExitPointCloudProcessor() override;
 
 
        /// @see visionx::PointCloudProcessor::process()
        void process() override;
 
 
        /// @see PropertyUser::createPropertyDefinitions()
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
 
    private:
        armarx::DebugObserverInterfacePrx debugObserver;
        // armarx::DebugDrawerTopic debugDrawer;
 
        IceUtil::Time providerWaitTime;
 
        MergedLabeledPointCloud merged;
    };
} // namespace visionx