PCDLoader.h

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// -*- C++ -*-
#ifndef PCD_LOADER_H
#define PCD_LOADER_H

#include <rtm/idl/BasicDataType.hh>
#include "hrpsys/idl/pointcloud.hh"
#include "hrpsys/idl/PCDLoaderService.hh"
#include <rtm/Manager.h>
#include <rtm/DataFlowComponentBase.h>
#include <rtm/CorbaPort.h>
#include <rtm/DataInPort.h>
#include <rtm/DataOutPort.h>
#include <rtm/idl/BasicDataTypeSkel.h>
#include <pcl/io/pcd_io.h>
#include <boost/unordered_map.hpp>
#include <hrpUtil/Eigen3d.h>
#include "PCDLoaderService_impl.h"

// Service implementation headers
// <rtc-template block="service_impl_h">

// </rtc-template>

// Service Consumer stub headers
// <rtc-template block="consumer_stub_h">

// </rtc-template>

using namespace RTC;

class PCDLoader
  : public RTC::DataFlowComponentBase
{
 public:
  PCDLoader(RTC::Manager* manager);
  virtual ~PCDLoader();

  // The initialize action (on CREATED->ALIVE transition)
  // formaer rtc_init_entry()
  virtual RTC::ReturnCode_t onInitialize();

  // The finalize action (on ALIVE->END transition)
  // formaer rtc_exiting_entry()
  // virtual RTC::ReturnCode_t onFinalize();

  // The startup action when ExecutionContext startup
  // former rtc_starting_entry()
  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);

  // The shutdown action when ExecutionContext stop
  // former rtc_stopping_entry()
  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);

  // The activated action (Active state entry action)
  // former rtc_active_entry()
  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);

  // The deactivated action (Active state exit action)
  // former rtc_active_exit()
  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);

  // The execution action that is invoked periodically
  // former rtc_active_do()
  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);

  // The aborting action when main logic error occurred.
  // former rtc_aborting_entry()
  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);

  // The error action in ERROR state
  // former rtc_error_do()
  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);

  // The reset action that is invoked resetting
  // This is same but different the former rtc_init_entry()
  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);

  // The state update action that is invoked after onExecute() action
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);

  // The action that is invoked when execution context's rate is changed
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
  
    bool load(const std::string& filename, const std::string& label);
    
protected:
  // Configuration variable declaration
  // <rtc-template block="config_declare">
  
  // </rtc-template>
    
  PointCloudTypes::PointCloud m_cloud;
  OpenHRP::PCDOffsetSeq m_offset;
  RTC::TimedBoolean m_isOutput;
  
  // DataInPort declaration
  // <rtc-template block="inport_declare">
  
  InPort<OpenHRP::PCDOffsetSeq> m_offsetIn;
  
  // </rtc-template>
  
  // DataOutPort declaration
  // <rtc-template block="outport_declare">
  OutPort<PointCloudTypes::PointCloud> m_cloudOut;
  OutPort<RTC::TimedBoolean> m_isOutputOut;
  
  // </rtc-template>

  // CORBA Port declaration
  // <rtc-template block="corbaport_declare">
  RTC::CorbaPort m_PCDLoaderServicePort;
  
  // </rtc-template>

  // Service declaration
  // <rtc-template block="service_declare">
  PCDLoaderService_impl m_service0;
  
  // </rtc-template>

  // Consumer declaration
  // <rtc-template block="consumer_declare">
  
  // </rtc-template>

  void setCloudXYZ(PointCloudTypes::PointCloud& cloud, const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_raw);
  
  void setCloudXYZRGB(PointCloudTypes::PointCloud& cloud, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_raw);
  
  void updateOffsetToCloudXYZ(void);
  
  void updateOffsetToCloudXYZRGB(void);
  
 private:
  std::string m_path, m_fields;
  int dummy;
  boost::unordered_map<std::string, pcl::PointCloud<pcl::PointXYZ>::Ptr> m_clouds_xyz;
  boost::unordered_map<std::string, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> m_clouds_xyzrgb;
};


extern "C"
{
  void PCDLoaderInit(RTC::Manager* manager);
};

#endif // PCD_LOADER_H