ValveAttention.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::ValveAttention
 * @author     Markus Grotz ( markus dot grotz at kit dot edu )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <mutex>
 
#include <opencv2/opencv.hpp>
 
#include <ArmarXCore/core/Component.h>
 
#include <RobotAPI/components/EarlyVisionGraph/GraphPyramidLookupTable.h>
#include <RobotAPI/components/EarlyVisionGraph/IntensityGraph.h>
#include <RobotAPI/components/EarlyVisionGraph/MathTools.h>
#include <RobotAPI/interface/components/ViewSelectionInterface.h>
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
#include <VisionX/components/pointcloud_core/PointCloudAndImageProcessor.h>
#include <VisionX/core/ImageProcessor.h>
#include <VisionX/tools/ImageUtil.h>
#include <VisionX/tools/TypeMapping.h>
 
#include "choughcirclesdemo.h"
#include "hog.h"
#include <Image/IplImageAdaptor.h>
 
namespace armarx
{
    /**
     * @class ValveAttentionPropertyDefinitions
     * @brief
     */
    class ValveAttentionPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        ValveAttentionPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(prefix)
        {
            //defineRequiredProperty<std::string>("PropertyName", "Description");
            //defineOptionalProperty<std::string>("PropertyName", "DefaultValue", "Description");
            defineOptionalProperty<std::string>(
                "RobotStateComponentName",
                "RobotStateComponent",
                "Name of the robot state component that should be used");
            defineOptionalProperty<std::string>(
                "ViewSelectionName",
                "ViewSelection",
                "Name of the ViewSelection component that should be used");
            defineOptionalProperty<std::string>(
                "HeadFrameName",
                "Head Base",
                "Name of the frame of the head base in the robot model");
            defineOptionalProperty<std::string>(
                "providerName", "ImageProvider", "Name of the image provider that should be used");
 
            defineOptionalProperty<std::string>("TrainingData",
                                                "/common/homes/students/zhu/home/",
                                                "Path to the training data set");
        }
    };
 
    /**
     * @defgroup Component-ValveAttention ValveAttention
     * @ingroup VisionX-Components
     * A description of the component ValveAttention.
     *
     * @class ValveAttention
     * @ingroup Component-ValveAttention
     * @brief Brief description of class ValveAttention.
     *
     * Detailed description of class ValveAttention.
     */
    class ValveAttention : virtual public visionx::PointCloudAndImageProcessor
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        static std::string
        GetDefaultName()
        {
            return "ValveAttention";
        }
 
        std::string
        getDefaultName() const override
        {
            return GetDefaultName();
        }
 
    protected:
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void process() override;
 
        void onInitPointCloudAndImageProcessor() override;
        void onConnectPointCloudAndImageProcessor() override;
        void onDisconnectPointCloudAndImageProcessor() override;
        void onExitPointCloudAndImageProcessor() override;
 
    private:
        void addSaliencyRecursive(const int currentNodeIndex,
                                  std::vector<bool>& visitedNodes,
                                  const float saliency,
                                  const TSphereCoord objectSphereCoord,
                                  const float maxDistanceOnArc);
 
 
        std::mutex mutex;
 
        RobotStateComponentInterfacePrx robotStateComponent;
        ViewSelectionInterfacePrx viewSelection;
 
        VirtualRobot::RobotPtr robot;
 
 
        std::string headFrameName;
        CIntensityGraph* saliencyEgosphereGraph;
        CGraphPyramidLookupTable* graphLookupTable;
 
        std::string providerName;
        int numImages, numResultImages;
        CByteImage** images;
        CByteImage** result;
        HoG* hog;
    };
} // namespace armarx