AffordancePipelineVisualization.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as
 * published by the Free Software Foundation; either version 2 of
 * the License, or (at your option) any later version.
 *
 * 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 Lesser 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    VisionX
 * @author     Peter Kaiser (peter dot kaiser at kit dot edu)
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
 
#include <Eigen/Eigen>
 
#include <IceUtil/IceUtil.h>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
 
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
#include <VisionX/interface/components/AffordancePipelineVisualization.h>
#include <VisionX/interface/components/PointCloudSegmenter.h>
#include <VisionX/libraries/AffordanceKitArmarX/SceneArmarX.h>
 
#include <AffordanceKit/primitives/Box.h>
#include <AffordanceKit/primitives/Cylinder.h>
#include <AffordanceKit/primitives/Plane.h>
#include <AffordanceKit/primitives/Sphere.h>
#include <MemoryX/core/memory/SegmentedMemory.h>
#include <MemoryX/interface/components/WorkingMemoryInterface.h>
#include <MemoryX/libraries/memorytypes/segment/AffordanceSegment.h>
#include <MemoryX/libraries/memorytypes/segment/EnvironmentalPrimitiveSegment.h>
 
namespace armarx
{
    /**
     * @class AffordanceExtractionPropertyDefinitions
     * @brief
     */
    class AffordancePipelineVisualizationPropertyDefinitions :
        public armarx::ComponentPropertyDefinitions
    {
    public:
        AffordancePipelineVisualizationPropertyDefinitions(std::string prefix) :
            ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "WorkingMemoryName", "WorkingMemory", "Name of WorkingMemory component");
            defineOptionalProperty<std::string>(
                "DebugDrawerTopicName", "DebugDrawerUpdates", "The name of the debug drawer topic");
            defineOptionalProperty<std::string>("DebugDrawerSelectionsTopicName",
                                                "DebugDrawerSelections",
                                                "The name of the debug drawer topic");
            defineOptionalProperty<std::string>(
                "VisualizationUpdateTopicName",
                "AffordanceVisualizationTopic",
                "Topic under which visualization updates are reported");
            defineOptionalProperty<bool>("EnableDebugDrawerSelections",
                                         true,
                                         "Allow users to select primitives via debug drawer");
 
            defineOptionalProperty<bool>(
                "EnablePrimitiveVisualization", true, "Initially enable primitive visualization");
            defineOptionalProperty<bool>(
                "EnableAffordanceVisualization", true, "Initially enable affordance visualization");
            defineOptionalProperty<bool>(
                "EnableDebugVisualization", false, "Initially enable debug visualization");
 
            defineOptionalProperty<std::string>(
                "VisualizeAffordanceBeliefFunction",
                "",
                "The affordance belief function that should initially be visualized");
            defineOptionalProperty<float>(
                "MinExpectedProbability",
                0,
                "Visualize only samplings with expected probability greater than X");
 
            defineOptionalProperty<bool>(
                "NoAffordanceExtractionConfigured",
                false,
                "In this case visualization will start as soon as primitives are computed");
 
            defineOptionalProperty<std::string>(
                "FileName", "", "Load affordances from a file name and exit.");
        }
    };
 
    /**
     * @class AffordanceExtraction
     * @ingroup RobotSkillTemplates-Components
     * @brief A brief description
     *
     * Detailed Description
     */
    class AffordancePipelineVisualization :
        virtual public Component,
        virtual public AffordancePipelineVisualizationInterface
    {
    public:
        AffordancePipelineVisualization();
 
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "AffordancePipelineVisualization";
        }
 
        void reportNewPointCloudSegmentation(const Ice::Current& c = Ice::emptyCurrent) override;
        void reportNewAffordances(const Ice::Current& c = Ice::emptyCurrent) override;
 
        void selectPrimitive(const std::string& id,
                             const Ice::Current& c = Ice::emptyCurrent) override;
        void deselectPrimitive(const std::string& id,
                               const Ice::Current& c = Ice::emptyCurrent) override;
        void deselectAllPrimitives(const Ice::Current& c = Ice::emptyCurrent) override;
 
        void enableVisualization(bool enablePrimitives,
                                 bool enableAffordances,
                                 bool enableDebugInformation,
                                 const Ice::Current& c = Ice::emptyCurrent) override;
        void configureAffordanceVisualization(AffordanceVisualizationStyle style,
                                              const std::vector<std::string>& primitives,
                                              const std::vector<std::string>& affordances,
                                              float minExpectedProbability,
                                              const Ice::Current& c = Ice::emptyCurrent) override;
        void triggerVisualization(const Ice::Current& c = Ice::emptyCurrent) override;
 
        void exportVisualizationAsIV(const std::string& filename,
                                     const Ice::Current& c = Ice::emptyCurrent) override;
        void exportVisualizationAsJSON(const std::string& filename,
                                       const Ice::Current& c = Ice::emptyCurrent) override;
 
        void clearVisualization(const Ice::Current& c = Ice::emptyCurrent) override;
 
        // DebugDrawerListener interface
        void reportSelectionChanged(const DebugDrawerSelectionList& selectedObjects,
                                    const ::Ice::Current& = Ice::emptyCurrent) override;
 
    protected:
        /**
         * @see armarx::ManagedIceObject::onInitComponent()
         */
        void onInitComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onConnectComponent()
         */
        void onConnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onDisconnectComponent()
         */
        void onDisconnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onExitComponent()
         */
        void onExitComponent() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void visualizeScene(const AffordanceKit::ScenePtr& scene,
                            bool updatePrimitives = true,
                            bool updateAffordances = true,
                            bool updateDebugInfo = true);
        void visualizePrimitives(const AffordanceKit::PrimitiveSetPtr& primitives);
        void visualizePrimitive(const AffordanceKit::PrimitivePtr& primitive);
        void visualizeAffordances(const AffordanceKit::ScenePtr& scene);
        void visualizeAffordance(const AffordanceKit::AffordancePtr& affordance,
                                 const AffordanceKit::PrimitivePtr& primitve,
                                 unsigned int index);
        void visualizeAffordanceLabels(const AffordanceKit::PrimitivePtr& primitive,
                                       const std::vector<std::string>& labels);
        void visualizeDebugInformation(const AffordanceKit::ScenePtr& scene);
 
        void visualizePlane(const AffordanceKit::PlanePtr& plane);
        void visualizeSphere(const AffordanceKit::SpherePtr& sphere);
        void visualizeCylinder(const AffordanceKit::CylinderPtr& cylinder);
        void visualizeBox(const AffordanceKit::BoxPtr& box);
 
    protected:
        void visualize(bool updatePrimitives = true,
                       bool updateAffordances = true,
                       bool updateDebugInfo = true);
 
    protected:
        DebugDrawerInterfacePrx debugDrawerTopicPrx;
        AffordancePipelineVisualizationListenerPrx affordanceVisualizationTopicPrx;
        memoryx::WorkingMemoryInterfacePrx workingMemoryPrx;
        memoryx::AffordanceSegmentBasePrx affordanceSegment;
        memoryx::EnvironmentalPrimitiveSegmentBasePrx environmentalPrimitiveSegment;
 
        std::set<std::string> selections;
 
        std::map<int, std::list<std::string>> labelMap;
 
        DrawColor primitiveColor;
        DrawColor primitiveColorFrame;
        DrawColor affordanceLabelColor;
 
        int affordanceLabelSize;
 
        bool primitiveVisualizationEnabled;
        bool affordanceVisualizationEnabled;
        bool debugVisualizationEnabled;
 
        AffordanceVisualizationStyle visualizationStyle;
        std::vector<std::string> visualizationPrimitiveSet;
        std::vector<std::string> visualizationAffordanceSet;
        float visualizationMinExpectedProbability;
 
        std::mutex sceneMutex;
        AffordanceKitArmarX::SceneArmarXPtr scene;
    };
} // namespace armarx