TrackingError.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::TrackingError
 * @author     David Sippel ( uddoe at student dot kit dot edu )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <mutex>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <opencv2/opencv.hpp>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/observers/DebugObserver.h>
 
#include <VisionX/core/ImageProcessor.h>
#include <VisionX/interface/components/TrackingErrorInterface.h>
#include <VisionX/tools/FPSCounter.h>
#include <VisionX/tools/ImageUtil.h>
 
#include <Image/IplImageAdaptor.h>
 
namespace armarx
{
    /**
     * @class TrackingErrorPropertyDefinitions
     * @brief
     */
    class TrackingErrorPropertyDefinitions : public visionx::ImageProcessorPropertyDefinitions
    {
    public:
        TrackingErrorPropertyDefinitions(std::string prefix) :
            visionx::ImageProcessorPropertyDefinitions(prefix)
        {
            //defineRequiredProperty<std::string>("PropertyName", "Description");
            //defineOptionalProperty<std::string>("PropertyName", "DefaultValue", "Description");
            defineOptionalProperty<float>("Framerate", 0.0, "the framerate");
            defineOptionalProperty<std::string>(
                "providerName", "Armar3ImageProvider", "ImageProvider name");
            defineOptionalProperty<bool>(
                "UseChessBoard", true, "use chessboard for feature tracking");
            defineOptionalProperty<std::string>(
                "TrackingErrorTopicName", "TrackingErrorTopic", "TrackingErrorTopicName name");
            defineOptionalProperty<int>("Chessboard.Width", 7, "Chessboard width");
            defineOptionalProperty<int>("Chessboard.Height", 5, "Chessboard height");
 
            defineOptionalProperty<std::string>("DebugObserverName",
                                                "DebugObserver",
                                                "Name of the topic the DebugObserver listens on");
        }
    };
 
    /**
     * @defgroup Component-TrackingError TrackingError
     * @ingroup VisionX-Components
     * A description of the component TrackingError.
     *
     * @class TrackingError
     * @ingroup Component-TrackingError
     * @brief Brief description of class TrackingError.
     *
     * Detailed description of class TrackingError.
     */
    class TrackingError : virtual public visionx::ImageProcessor
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        static std::string
        GetDefaultName()
        {
            return "TrackingError";
        }
 
        std::string
        getDefaultName() const override
        {
            return GetDefaultName();
        }
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        // ImageProcessor interface
    protected:
        void onInitImageProcessor() override;
        void onConnectImageProcessor() override;
        void onExitImageProcessor() override;
        void process() override;
 
    private:
        CByteImage** cameraImages;
        std::string providerName;
        std::mutex imageMutex;
        cv::Mat previousImage, old2;
        std::vector<cv::Point2f> previousFeatures, features2_prev;
        bool useChessboard;
 
        int chessboardWidth, chessboardHeight, imageWidth, imageHeight;
 
        visionx::ImageProviderInterfacePrx imageProviderPrx;
        TrackingErrorListenerPrx prx;
 
        DebugObserverInterfacePrx debugObserver;
 
        visionx::FPSCounter fpsCounter;
        float frameRate;
    };
} // namespace armarx