ParticleFilterRobotHandLocalisation.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
 
#include "../HandLocalisationConstants.h"
#include "../HandModel/HandModelV2.h"
#include "../HandModel/HandModeliCub.h"
#include "ParticleFilterFrameworkParallelized.h"
#include "Polygon.h"
 
// IVT
#include <cmath>
#include <cstdlib>
 
#include "Calibration/StereoCalibration.h"
#include "Helpers/helpers.h"
#include "Image/ByteImage.h"
#include "Math/Math3d.h"
 
#define NUMBER_OF_CUES 7
 
namespace visionx
{
 
    struct DetailedPFRating
    {
        // config that was evaluated
        double dResultConfig[DSHT_NUM_PARAMETERS];
 
        // number of found correct pixels
        int nNumberOfWhitePixelsInImage;
 
        int nOverallNumberOfFoundPixels;
        double dOverallFoundPercentageOfExpectedPixels;
 
        int nNumberOfFoundPixelsOfFinger[DSHT_NUM_FINGERS];
        double dFoundPercentageOfExpectedPixelsOfFinger[DSHT_NUM_FINGERS];
 
        // results of edge detection
        int nEdgeSum;
        double dEdgePercentage;
        double dEdgeDirection;
 
        // rating
        double dPFCueRating;
        double dRating;
        double dConfidenceOfRating;
    };
 
    class CParticleFilterRobotHandLocalisation : public CParticleFilterFrameworkParallelized
    {
    public:
        // constructor
        CParticleFilterRobotHandLocalisation(int nParticles,
                                             int nDimension,
                                             int nNumParallelThreads,
                                             CStereoCalibration* pCalibration,
                                             std::string sHandModelFileName);
 
        // destructor
        virtual ~CParticleFilterRobotHandLocalisation();
 
 
        // public methods
 
        void SetImages(CByteImage* pRegionImageLeft,
                       CByteImage* pRegionImageRight,
                       CByteImage* pSobelImageLeft,
                       CByteImage* pSobelImageRight,
                       CByteImage* pSobelXImageLeft,
                       CByteImage* pSobelXImageRight,
                       CByteImage* pSobelYImageLeft,
                       CByteImage* pSobelYImageRight);
 
        void UpdateModel(int nParticleIndex, int nModelIndex) override;
 
        void
        UpdateModel(int nParticleIndex) override
        {
            UpdateModel(nParticleIndex, 0);
        }
 
        void PredictNewBases(double dSigmaFactor) override;
        double CalculateProbability(int nParticleIndex, int nModelIndex) override;
 
        double
        CalculateProbability(bool bSeparateCall = true) override
        {
            return CalculateProbability(0, 0);
        }
 
        void CalculateFinalProbabilities() override;
 
        // set the configuration of the particles
        void SetParticleConfig(double* pConfig);
        // set the configuration of the first half of the particles, the rest is not changed
        void SetParticleConfigHalf(double* pConfig);
        // set the configuration of ten percent of the particles, the rest is not changed
        void SetConfigOfATenthOfTheParticles(int nTenthIndex, double* pConfig);
        // set the array containing the sensor values
        void SetSensorConfig(double* sconfig);
        // set the allowed deviation of the particle configs from the sensor values
        void SetAllowedDeviation(double* adeviation);
 
        // get a detailed rating for a config
        void GetDetailedRating(double* pConf, DetailedPFRating* pRating);
 
        // calc distance between two configs
        double DistanceBetweenConfigs(double* pOldConf, double* pNewConf);
 
        // set the tracking ball position and size
        void SetTrackingBallPositions(double* dPosX,
                                      double* dPosY,
                                      double* dRadius,
                                      int nNumTrBallRegions,
                                      bool bLeftCamImage);
 
    private:
    public: //TODO: make private again
        // private methods
 
        void CalculateRegionCue(int& region_sum,
                                int& region_length,
                                int nModelIndex,
                                bool bLeftCamImage);
        void CalculateEdgeCue(int& edge_sum,
                              int& edge_length,
                              double& angle_diffs,
                              int nModelIndex,
                              bool bLeftCamImage);
 
        // sum up all pixel values of camImage that are inside the polygon pol, and count the number
        // of pixels inside the polygon
        inline void CalculatePixelSumInPolygon(ConvexPolygonCalculations::Polygon* pol,
                                               int& region_sum,
                                               int& region_length,
                                               bool bLeftCamImage);
 
        inline void CalculatePixelSumOnLineSequence(Vec3d linePoints[],
                                                    int nPoints,
                                                    int& edge_sum,
                                                    int& edge_length,
                                                    double& angle_diffs,
                                                    bool bLeftCamImage);
 
        // calculate error distance to tracking ball
        void CalculateTrackingBallCue(double& dDistanceXY, double& dDistanceZ, int nModelIndex);
 
 
        // private attributes
 
        CHandModelV2** m_pHandModels;
        CByteImage *m_pRegionImageLeft, *m_pRegionImageRight, *m_pSobelImageLeft,
            *m_pSobelImageRight, *m_pSobelXImageLeft, *m_pSobelXImageRight, *m_pSobelYImageLeft,
            *m_pSobelYImageRight;
 
        double* sensor_config;
        double* allowed_deviation;
 
 
        double** m_ppProbabilities;
        //int m_nParticleIndex;     // index of the particle which is to be handled next
 
        ConvexPolygonCalculations::Polygon** m_pTempIntersectionPolygons;
        Vec3d** m_pTempVecArrays;
        Vec3d** m_pTempClockwiseHullPolys1;
        Vec3d** m_pTempClockwiseHullPolys2;
        bool** m_pTempBoolArrays;
 
        double m_pProbMin[NUMBER_OF_CUES];
        double m_pProbMax[NUMBER_OF_CUES];
 
        //float m_fFocalLengthX;
        //float m_fFocalLengthY;
        //float m_fPrincipalPointX;
        //float m_fPrincipalPointY;
 
        double *m_pdTrackingBallPosXLeft, *m_pdTrackingBallPosXRight;
        double *m_pdTrackingBallPosYLeft, *m_pdTrackingBallPosYRight;
        double *m_pdTrackingBallRadiusLeft, *m_pdTrackingBallRadiusRight;
        int m_nNumTrackingBallRegionsLeft, m_nNumTrackingBallRegionsRight;
    };
 
 
} // namespace visionx