Merge branch 'armem/dev' into 41-follow-up-from-resolve-add-object-memory

source/RobotAPI/libraries/aron/core/CMakeLists.txt

@@ -5,9 +5,6 @@ armarx_set_target("Library: ${LIB_NAME}")
 
 find_package(Eigen3 QUIET)
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-if(Eigen3_FOUND)
-    include_directories(${Eigen3_INCLUDE_DIR})
-endif()
 
 find_package(Simox QUIET)
 armarx_build_if(Simox_FOUND "Simox not available")
@@ -15,6 +12,9 @@ if(Simox_FOUND)
     include_directories(${Simox_INCLUDE_DIR})
 endif()
 
+find_package(PCL QUIET COMPONENTS io common)
+armarx_build_if(PCL_FOUND "PCL not available")
+
 
 set(LIBS
     ArmarXCoreInterfaces
@@ -22,6 +22,9 @@ set(LIBS
     RobotAPIInterfaces
     cppgen
     ${Simox_LIBS}
+    # System libraries
+    Eigen3::Eigen
+    # PCLInterface
 )
 
 set(LIB_FILES
@@ -217,7 +220,17 @@ set(LIB_HEADERS
     codegenerator/typeReader/xml/Reader.h
 )
 
+
 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
 
+
+if(PCL_FOUND)
+target_include_directories("${LIB_NAME}" 
+    SYSTEM PUBLIC 
+        "${PCL_INCLUDE_DIRS}"
+)
+endif()
+
+
 # add unit tests
 add_subdirectory(test)

source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp

@@ -24,6 +24,8 @@
 // Header
 #include "PCLPointCloud.h"
 
+#include <RobotAPI/libraries/core/pcl_point_types.h>
+
 namespace armarx::aron::cppcodegenerator::serializer
 {
 
@@ -37,6 +39,7 @@ namespace armarx::aron::cppcodegenerator::serializer
         {"PointXYZRGBL", {"pcl::PointXYZRGBL", 32}},
         {"PointXYZRGBA", {"pcl::PointXYZRGBA", 32}},
         {"PointXYZHSV", {"pcl::PointXYZHSV", 32}},
+        {"PointPolar", {"pcl::PointPolar", 16}},
     };
 
     // constructors

source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h

@@ -79,7 +79,8 @@ namespace armarx::aron::typenavigator
             {"PointXYZRGB", {"pcl::PointXYZRGB"}},
             {"PointXYZRGBL", {"pcl::PointXYZRGBL"}},
             {"PointXYZRGBA", {"pcl::PointXYZRGBA"}},
-            {"PointXYZHSV", {"pcl::PointXYZHSV"}}
+            {"PointXYZHSV", {"pcl::PointXYZHSV"}},
+            {"PointPolar", {"pcl::PointPolar"}}
         };
         const unsigned int ACCEPTED_DIMENSION_MIN_SIZE = 2;
         const unsigned int ACCEPTED_DIMENSION_MAX_SIZE = 2;

source/RobotAPI/libraries/core/pcl_point_types.h

+/*
+ * 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    RobotAPI::Core
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#define PCL_NO_PRECOMPILE
+#include <pcl/pcl_macros.h>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl/io/pcd_io.h>
+// #include <pcl/memory.h>
+
+#include <Eigen/Core>
+
+namespace pcl
+{
+
+    /**
+     * @brief Point for polar coordinates
+     *
+     */
+    struct PointPolar
+    {
+        //   PCL_ADD_POINT4D;                  // preferred way of adding a XYZ+padding
+
+        //! radial distance
+        float r;
+
+        //! angle
+        float phi;
+
+        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+        // PCL_MAKE_ALIGNED_OPERATOR_NEW     // make sure our new allocators are aligned
+    } EIGEN_ALIGN16;                    // enforce SSE padding for correct memory alignment
+
+
+
+} // namespace pcl
+
+
+POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::PointPolar,
+                                  (float, r, r)
+                                  (float, phi, phi)
+                                 )
\ No newline at end of file