aron_conversions.cpp

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#include "aron_conversions.h"
 
#include "ArmarXCore/util/CPPUtility/trace.h"
 
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions/framed.h>
#include <RobotAPI/libraries/aron/core/aron_conversions.h>
 
#include <VisionX/libraries/armem_human/types.h>
 
namespace armarx::armem::server::human
{
 
}
 
namespace armarx::armem::human
{
 
    void
    fromAron(const armarx::human::arondto::HumanPose& dto, HumanPose& bo)
    {
        using armarx::aron::fromAron;
 
        fromAron(dto.poseModelId, bo.poseModelId);
        bo.humanTrackingId = dto.humanTrackingId;
        bo.cameraFrameName = dto.cameraFrameName;
        fromAron(dto.keypoints, bo.keypoints);
    }
 
    void
    toAron(armarx::human::arondto::HumanPose& dto, const HumanPose& bo)
    {
        using armarx::aron::toAron;
 
        toAron(dto.poseModelId, bo.poseModelId);
        dto.humanTrackingId = bo.humanTrackingId;
        dto.cameraFrameName = bo.cameraFrameName;
        toAron(dto.keypoints, bo.keypoints);
    }
 
    void
    fromAron(const std::map<std::string, armarx::human::arondto::PoseKeypoint>& dto,
             std::map<std::string, armarx::armem::human::PoseKeypoint>& bo)
    {
        bo.clear();
        for (const auto& [keypoint_name, keypoint] : dto)
        {
            armarx::armem::human::PoseKeypoint keypoint_bo;
            keypoint_bo.label = keypoint_name;
            fromAron(keypoint, keypoint_bo);
            bo[keypoint_name] = keypoint_bo;
        }
    }
 
    void
    toAron(std::map<std::string, armarx::human::arondto::PoseKeypoint>& dto,
           const std::map<std::string, armarx::armem::human::PoseKeypoint>& bo)
    {
        dto.clear();
        for (const auto& [keypoint_name, keypoint] : bo)
        {
            armarx::human::arondto::PoseKeypoint keypoint_dto;
            toAron(keypoint_dto, keypoint);
            dto[keypoint_name] = keypoint_dto;
        }
    }
 
    void
    fromAron(const armarx::human::arondto::PoseKeypoint& dto, PoseKeypoint& bo)
    {
        armarx::fromAron(dto.positionCamera, bo.positionCamera);
        armarx::fromAron(dto.orientationCamera, bo.orientationCamera);
        armarx::fromAron(dto.positionRobot, bo.positionRobot);
        armarx::fromAron(dto.orientationRobot, bo.orientationRobot);
        armarx::fromAron(dto.positionGlobal, bo.positionGlobal);
        armarx::fromAron(dto.orientationGlobal, bo.orientationGlobal);
        bo.confidence = dto.confidence;
    }
 
    void
    toAron(armarx::human::arondto::PoseKeypoint& dto, const PoseKeypoint& bo)
    {
        armarx::toAron(dto.positionCamera, bo.positionCamera);
        armarx::toAron(dto.orientationCamera, bo.orientationCamera);
        armarx::toAron(dto.positionRobot, bo.positionRobot);
        armarx::toAron(dto.orientationRobot, bo.orientationRobot);
        armarx::toAron(dto.positionGlobal, bo.positionGlobal);
        armarx::toAron(dto.orientationGlobal, bo.orientationGlobal);
        dto.confidence = bo.confidence;
    }
 
    void
    fromAron(const armarx::human::arondto::HumanPose2D& dto, HumanPose2D& bo)
    {
        using armarx::aron::fromAron;
 
        ARMARX_TRACE;
 
        fromAron(dto.poseModelId, bo.poseModelId);
        bo.humanTrackingId = dto.humanTrackingId;
        bo.cameraFrameName = dto.cameraFrameName;
        fromAron(dto.keypoints, bo.keypoints);
    }
 
    void
    toAron(armarx::human::arondto::HumanPose2D& dto, const HumanPose2D& bo)
    {
        using armarx::aron::toAron;
 
        toAron(dto.poseModelId, bo.poseModelId);
        dto.humanTrackingId = bo.humanTrackingId;
        dto.cameraFrameName = bo.cameraFrameName;
        toAron(dto.keypoints, bo.keypoints);
    }
 
    void
    fromAron(const std::map<std::string, armarx::human::arondto::PoseKeypoint2D>& dto,
             std::map<std::string, armarx::armem::human::PoseKeypoint2D>& bo)
    {
        bo.clear();
        for (const auto& [keypoint_name, keypoint] : dto)
        {
            armarx::armem::human::PoseKeypoint2D keypoint_bo;
            keypoint_bo.label = keypoint_name;
            fromAron(keypoint, keypoint_bo);
            bo[keypoint_name] = keypoint_bo;
        }
    }
 
    void
    toAron(std::map<std::string, armarx::human::arondto::PoseKeypoint2D>& dto,
           const std::map<std::string, armarx::armem::human::PoseKeypoint2D>& bo)
    {
        dto.clear();
        for (const auto& [keypoint_name, keypoint] : bo)
        {
            armarx::human::arondto::PoseKeypoint2D keypoint_dto;
            toAron(keypoint_dto, keypoint);
            dto[keypoint_name] = keypoint_dto;
        }
    }
 
    void
    fromAron(const armarx::human::arondto::PoseKeypoint2D& dto, PoseKeypoint2D& bo)
    {
        bo.position = Eigen::Vector2f(dto.x, dto.y);
        bo.confidence = dto.confidence;
    }
 
    void
    toAron(armarx::human::arondto::PoseKeypoint2D& dto, const PoseKeypoint2D& bo)
    {
        dto.x = bo.position.x();
        dto.y = bo.position.y();
        dto.confidence = bo.confidence;
    }
 
    void
    fromAron(const armarx::human::arondto::FaceRecognition& dto, FaceRecognition& bo)
    {
        bo.position3DGlobal = Eigen::Matrix(dto.position3DGlobal);
        bo.extents2D = Eigen::Matrix(dto.extents2D);
        bo.position2D = Eigen::Matrix(dto.position2D);
        FramedPosition dtoFramedPosition;
        armarx::aron::framed::fromAron(dto.framedPosition3D, dtoFramedPosition);
        bo.framedPosition3D = FramedPosition(dtoFramedPosition);
        if (dto.profileID.has_value())
        {
            armarx::armem::arondto::MemoryID dtoID = dto.profileID.value();
            armarx::armem::MemoryID boID;
            armarx::armem::fromAron(dtoID, boID);
            bo.profileID = boID;
        }
    }
 
    void
    toAron(armarx::human::arondto::FaceRecognition& dto, const FaceRecognition& bo)
    {
        dto.position3DGlobal = Eigen::Matrix(bo.position3DGlobal);
        dto.extents2D = Eigen::Matrix(bo.extents2D);
        dto.position2D = Eigen::Matrix(bo.position2D);
        armarx::aron::framed::toAron(dto.framedPosition3D, bo.framedPosition3D);
        if (bo.profileID.has_value())
        {
            armarx::armem::MemoryID boID = bo.profileID.value();
            armarx::armem::arondto::MemoryID dtoID;
            armarx::armem::toAron(dtoID, boID);
            dto.profileID = dtoID;
        }
        //        dto.profileID = armarx::aron::toAron<armarx::armem::arondto::MemoryID>(bo.profileID);
    }
 
    void
    fromAron(const armarx::human::arondto::PersonInstance& dto, PersonInstance& bo)
    {
        armarx::armem::fromAron(dto.profileID, bo.profileID);
        armarx::armem::fromAron(dto.faceRecognitionID, bo.faceRecognitionID);
        armarx::armem::fromAron(dto.poseID, bo.poseID);
        bo.pose = Pose(dto.pose);
    }
 
    void
    toAron(armarx::human::arondto::PersonInstance& dto, const PersonInstance& bo)
    {
        armarx::armem::toAron(dto.profileID, bo.profileID);
        armarx::armem::toAron(dto.faceRecognitionID, bo.faceRecognitionID);
        armarx::armem::toAron(dto.poseID, bo.poseID);
        dto.pose = Eigen::Matrix4f(bo.pose.toEigen());
    }
 
} // namespace armarx::armem::human