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enable to compile with OpenRTM-1.2.2 #1299

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enable to compile with OpenRTM-1.2.2 #1299

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1 change: 1 addition & 0 deletions idl/HRPDataTypes.idl
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ module OpenHRP
struct SceneState
{
double time;
RTC::Time tm;
RobotStateSeq states;
};

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6 changes: 6 additions & 0 deletions idl/Img.idl
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Expand Up @@ -27,6 +27,12 @@ struct ImageData
sequence<octet> raw_data;
};

struct TimedImageData
{
RTC::Time tm;
ImageData data;
};


/* camera image */
struct CameraIntrinsicParameter
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6 changes: 6 additions & 0 deletions idl/PCDLoaderService.idl
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,12 @@ module OpenHRP
};

typedef sequence<PCDOffset> PCDOffsetSeq;

struct TimedPCDOffsetSeq
{
RTC::Time tm;
PCDOffsetSeq data;
};

interface PCDLoaderService
{
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8 changes: 5 additions & 3 deletions rtc/ImageData2CameraImage/ImageData2CameraImage.cpp
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Expand Up @@ -32,8 +32,8 @@ static const char* imagedata2cameraimage_spec[] =
ImageData2CameraImage::ImageData2CameraImage(RTC::Manager* manager)
: RTC::DataFlowComponentBase(manager),
// <rtc-template block="initializer">
m_dataIn("imageIn", m_data.data.image),
m_dataOut("imageOut", m_data),
m_dataIn("imageIn", m_tid),
m_dataOut("imageOut", m_tci),
// </rtc-template>
dummy(0)
{
Expand Down Expand Up @@ -68,7 +68,7 @@ RTC::ReturnCode_t ImageData2CameraImage::onInitialize()
// Set CORBA Service Ports

// </rtc-template>
m_data.error_code = 0;
m_tci.error_code = 0;

return RTC::RTC_OK;
}
Expand Down Expand Up @@ -112,6 +112,8 @@ RTC::ReturnCode_t ImageData2CameraImage::onExecute(RTC::UniqueId ec_id)
{
if (m_dataIn.isNew()){
m_dataIn.read();
m_tci.tm = m_tid.tm;
m_tci.data.image = m_tid.data;
m_dataOut.write();
}
return RTC::RTC_OK;
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5 changes: 3 additions & 2 deletions rtc/ImageData2CameraImage/ImageData2CameraImage.h
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Expand Up @@ -103,11 +103,12 @@ class ImageData2CameraImage

// </rtc-template>

Img::TimedCameraImage m_data;
Img::TimedImageData m_tid;
Img::TimedCameraImage m_tci;

// DataInPort declaration
// <rtc-template block="inport_declare">
InPort<Img::ImageData> m_dataIn;
InPort<Img::TimedImageData> m_dataIn;

// </rtc-template>

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8 changes: 4 additions & 4 deletions rtc/PCDLoader/PCDLoader.cpp
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Expand Up @@ -177,8 +177,8 @@ void PCDLoader::setCloudXYZRGB(PointCloudTypes::PointCloud& cloud, const pcl::Po
void PCDLoader::updateOffsetToCloudXYZ(void)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr clouds(new pcl::PointCloud<pcl::PointXYZ>);
for (unsigned int i=0; i<m_offset.length(); i++){
const OpenHRP::PCDOffset& offset = m_offset[i];
for (unsigned int i=0; i<m_offset.data.length(); i++){
const OpenHRP::PCDOffset& offset = m_offset.data[i];
const std::string label(offset.label);
if( m_clouds_xyz.find(label) != m_clouds_xyz.end() ){
const hrp::Vector3 center(offset.center.x, offset.center.y, offset.center.z);
Expand Down Expand Up @@ -211,8 +211,8 @@ void PCDLoader::updateOffsetToCloudXYZ(void)
void PCDLoader::updateOffsetToCloudXYZRGB(void)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr clouds(new pcl::PointCloud<pcl::PointXYZRGB>);
for (unsigned int i=0; i<m_offset.length(); i++){
const OpenHRP::PCDOffset& offset = m_offset[i];
for (unsigned int i=0; i<m_offset.data.length(); i++){
const OpenHRP::PCDOffset& offset = m_offset.data[i];
const std::string label(offset.label);
if( m_clouds_xyzrgb.find(label) != m_clouds_xyzrgb.end() ){
const hrp::Vector3 center(offset.center.x, offset.center.y, offset.center.z);
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4 changes: 2 additions & 2 deletions rtc/PCDLoader/PCDLoader.h
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Expand Up @@ -110,13 +110,13 @@ class PCDLoader
// </rtc-template>

PointCloudTypes::PointCloud m_cloud;
OpenHRP::PCDOffsetSeq m_offset;
OpenHRP::TimedPCDOffsetSeq m_offset;
RTC::TimedBoolean m_isOutput;

// DataInPort declaration
// <rtc-template block="inport_declare">

InPort<OpenHRP::PCDOffsetSeq> m_offsetIn;
InPort<OpenHRP::TimedPCDOffsetSeq> m_offsetIn;

// </rtc-template>

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