UCLObjectRecognition.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 General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * 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 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::ArmarXObjects::UCLObjectRecognition
 * @author     Mirko Waechter (waechter at kit dot edu)
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/Robot.h>
 
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/interface/speech/SpeechInterface.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
#include <VisionX/components/object_perception/ObjectLocalizerProcessor.h>
#include <VisionX/interface/components/FaceRecognitionInterface.h>
#include <VisionX/interface/components/ObjectPoseInterface.h>
#include <VisionX/interface/components/PointCloudAndImageAndCalibrationProviderInterface.h>
#include <VisionX/tools/TypeMapping.h>
 
#include <MemoryX/interface/components/LongtermMemoryInterface.h>
 
//#include <Python.h>
 
 
namespace visionx
{
    /**
     * @class UCLObjectRecognitionPropertyDefinitions
     * @brief
     */
    class UCLObjectRecognitionPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        UCLObjectRecognitionPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "AgentName", "Armar6", "Name of the robot that does the localization");
            defineOptionalProperty<std::string>(
                "CameraFrameName",
                "DepthCamera",
                "Name of the camera frame of the robot that does the localization");
            defineOptionalProperty<std::string>("ObjectNameIdMap",
                                                "spraybottle:5;brush:1",
                                                "map between object names and mask rcnn names");
 
            defineOptionalProperty<std::string>(
                "RobotStateComponentName",
                "RobotStateComponent",
                "Name of the robot state component that should be used");
            defineOptionalProperty<std::string>(
                "DebugDrawerTopicName", "DebugDrawerUpdates", "Name of the debug drawer topic");
        }
    };
 
    /**
     * @defgroup Component-UCLObjectRecognition UCLObjectRecognition
     * @ingroup VisionX-Components
     * A description of the component UCLObjectRecognition.
     *
     * @class UCLObjectRecognition
     * @ingroup Component-UCLObjectRecognition
     * @brief Brief description of class UCLObjectRecognition.
     *
     * Detailed description of class UCLObjectRecognition.
     */
    class UCLObjectRecognition :
        public armarx::Component,
        virtual public memoryx::ObjectLocalizerInterface
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "UCLObjectRecognition";
        }
 
    protected:
        memoryx::ObjectLocalizationResultList
        localizeAndIdentifyFaces(CByteImage** cameraImages,
                                 armarx::MetaInfoSizeBasePtr imageMetaInfo,
                                 CByteImage** resultImages);
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
        typedef std::map<std::string, std::list<std::pair<IceUtil::Time, double>>>
            FaceConfidenceHistory;
 
    private:
        ObjectPoseInterfacePrx prx;
        armarx::DebugDrawerInterfacePrx debugDrawerTopicPrx;
        armarx::RobotStateComponentInterfacePrx robotStateComponent;
        VirtualRobot::RobotPtr localRobot;
 
    public:
        memoryx::ObjectLocalizationResultList
        localizeObjectClasses(const memoryx::ObjectClassNameList& classes,
                              const Ice::Current&) override;
 
        // ManagedIceObject interface
    protected:
        void onInitComponent() override;
        void onConnectComponent() override;
    };
} // namespace visionx