Parse pipeline config as collection of sections

Author: PeterBowman

libraries/YarpCloudUtils/CMakeLists.txt

@@ -6,11 +6,9 @@ if(ENABLE_YarpCloudUtils)
                                       YarpCloudUtils-ply-export.cpp
                                       YarpCloudUtils-ply-import.cpp
                                       YarpCloudUtils-pcl.cpp
-                                      SurfaceMeshingOptions.hpp
-                                      SurfaceMeshingOptions.cpp
                                       tinyply.h)
 
-    set_property(TARGET YarpCloudUtils PROPERTY PUBLIC_HEADER YarpCloudUtils.hpp SurfaceMeshingOptions.hpp)
+    set_property(TARGET YarpCloudUtils PROPERTY PUBLIC_HEADER YarpCloudUtils.hpp)
 
     file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/tinyply.cpp "#include \"tinyply.h\"")
     set_property(SOURCE ${CMAKE_CURRENT_BINARY_DIR}/tinyply.cpp PROPERTY COMPILE_DEFINITIONS TINYPLY_IMPLEMENTATION)

libraries/YarpCloudUtils/SurfaceMeshingOptions.cpp

@@ -8,7 +8,7 @@
 #include <yarp/sig/Vector.h>
 
 #define YCU_PCL_INST_SIGNATURE(in, out) \
-    template bool meshFromCloud(const in &, out &, yarp::sig::VectorOf<int> &, const yarp::sig::VectorOf<yarp::os::Property> &);
+    template bool meshFromCloud(const in &, out &, yarp::sig::VectorOf<int> &, const yarp::os::Searchable &, const std::string &);
 
 namespace roboticslab
 {

libraries/YarpCloudUtils/SurfaceMeshingOptions.hpp

@@ -920,6 +920,42 @@ namespace
 }
 #endif
 
+namespace
+{
+    auto makeFromConfig(const yarp::os::Searchable & config, const std::string & collection)
+    {
+        yarp::sig::VectorOf<yarp::os::Property> options;
+        const auto & pipeline = config.findGroup(collection);
+
+        if (!pipeline.isNull())
+        {
+            auto groups = pipeline.tail();
+
+            for (auto i = 0; i < groups.size(); i++)
+            {
+                auto groupName = groups.get(i).asString();
+                const auto & group = config.findGroup(groupName);
+
+                if (!group.isNull())
+                {
+                    auto groupConfig = group.tail();
+                    options.emplace_back(groupConfig.toString().c_str());
+                }
+                else
+                {
+                    yWarning() << "group not found:" << groupName;
+                }
+            }
+        }
+        else
+        {
+            yWarning() << "collection not found:" << collection;
+        }
+
+        return options;
+    }
+}
+
 namespace roboticslab
 {
 
@@ -986,6 +1022,16 @@ bool meshFromCloud(const yarp::sig::PointCloud<T1> & cloud,
 #endif
 }
 
+template <typename T1, typename T2>
+bool meshFromCloud(const yarp::sig::PointCloud<T1> & cloud,
+                   yarp::sig::PointCloud<T2> & meshPoints,
+                   yarp::sig::VectorOf<int> & meshIndices,
+                   const yarp::os::Searchable & config,
+                   const std::string & collection)
+{
+    return meshFromCloud(cloud, meshPoints, meshIndices, makeFromConfig(config, collection));
+}
+
 } // namespace YarpCloudUtils
 
 } // namespace roboticslab

libraries/YarpCloudUtils/YarpCloudUtils-pcl-inst.hpp

@@ -6,12 +6,11 @@
 #include <string>
 
 #include <yarp/os/Property.h>
+#include <yarp/os/Searchable.h>
 
 #include <yarp/sig/PointCloud.h>
 #include <yarp/sig/Vector.h>
 
-#include <SurfaceMeshingOptions.hpp>
-
 /**
  * @ingroup vision_libraries
  * @defgroup YarpCloudUtils
@@ -54,14 +53,12 @@ bool meshFromCloud(const yarp::sig::PointCloud<T1> & cloud,
                        {{"algorithm", yarp::os::Value("Poisson")}}
                    });
 
-template <typename T>
-bool meshFromCloud(const yarp::sig::PointCloud<T> & cloud,
+template <typename T1, typename T2 = T1>
+bool meshFromCloud(const yarp::sig::PointCloud<T1> & cloud,
+                   yarp::sig::PointCloud<T2> & meshPoints,
                    yarp::sig::VectorOf<int> & meshIndices,
-                   const yarp::sig::VectorOf<yarp::os::Property> & options)
-{
-    yarp::sig::PointCloud<T> meshPoints;
-    return meshFromCloud(cloud, meshPoints, meshIndices, options);
-}
+                   const yarp::os::Searchable & config,
+                   const std::string & collection = "meshPipeline");
 
 } // namespace YarpCloudUtils