UpdateConsumer.h

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#pragma once
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
#include <VisionX/libraries/armem_human/aron/FaceRecognition.aron.generated.h>
#include <VisionX/libraries/armem_human/aron/HumanPose.aron.generated.h>
#include <VisionX/libraries/armem_human/aron/Profile.aron.generated.h>
#include <VisionX/libraries/armem_human/types.h>
 
namespace VisionX::components::person_instance_updater
{
    class UpdateConsumer
    {
    public:
        UpdateConsumer();
        UpdateConsumer(int maxFaceHeadDistance);
        void consumeFaceRecognitionUpdate(armarx::armem::human::FaceRecognition faceRecognition,
                                          armarx::armem::MemoryID faceRecognitionID,
                                          armarx::armem::client::MemoryNameSystem mns);
        void consumePoseUpdate(armarx::armem::human::HumanPose humanPose,
                               armarx::armem::MemoryID poseID,
                               armarx::armem::client::MemoryNameSystem mns);
        void consumeProfileUpdate(armarx::human::arondto::Profile profile,
                                  armarx::armem::MemoryID profileID,
                                  armarx::armem::client::MemoryNameSystem mns);
 
    private:
        std::optional<armarx::armem::MemoryID>
        getClosestPoseID(Eigen::Matrix<float, 3, 1> facePos,
                         armarx::armem::client::MemoryNameSystem mns);
 
        std::optional<armarx::armem::MemoryID>
        getClosestFaceID(armarx::FramedPosition headPos,
                         armarx::armem::client::MemoryNameSystem mns);
 
        static std::optional<armarx::FramedPosition>
        getHeadPos(armarx::armem::human::HumanPose pose);
 
        static float getDistance(Eigen::Matrix<float, 3, 1> facePos,
                                 armarx::FramedPosition headPos);
        float maxFaceHeadDistance;
    };
} // namespace VisionX::components::person_instance_updater