UpdateConsumer Class Reference

Core logic for fusing face recognition and pose tracking into PersonInstance entities. More...

#include <VisionX/components/person_instance_updater/UpdateConsumer.h>

Classes
struct	Properties

Public Member Functions
void	consumeFaceRecognitionUpdate (const armarx::armem::human::FaceRecognition &faceRecognition, const armarx::armem::MemoryID &faceRecognitionID)
	Process a new face recognition result.
void	consumePoseUpdate (const armarx::armem::human::HumanPose &humanPose, const armarx::armem::MemoryID &poseID)
	Process a new human pose update.
void	consumeProfileUpdate (const armarx::human::arondto::Person &profile, const armarx::armem::MemoryID &profileID)
	Process a profile update (not yet implemented).
	UpdateConsumer (armarx::armem::client::MemoryNameSystem &mns, const Properties &properties)

Detailed Description

Core logic for fusing face recognition and pose tracking into PersonInstance entities.

This class handles the complex task of matching and linking face recognition data with body pose tracking data to maintain a unified representation of tracked people.

Matching Strategy:

• Face -> PersonInstance: Match by profile ID, then try to link with a nearby pose
• Pose -> PersonInstance: Match by tracking ID or spatial proximity to a recognized face
• Ensures tracking ID uniqueness: only one PersonInstance per tracking ID

Key Operations:

• consumeFaceRecognitionUpdate(): Process new face recognition data
• consumePoseUpdate(): Process new pose tracking data
• Uses spatial proximity (maxFaceHeadDistance) to match faces with pose head positions

Constructor & Destructor Documentation

UpdateConsumer()

UpdateConsumer	(	armarx::armem::client::MemoryNameSystem &	mns,
		const Properties &	properties )

Member Function Documentation

consumeFaceRecognitionUpdate()

void consumeFaceRecognitionUpdate	(	const armarx::armem::human::FaceRecognition &	faceRecognition,
		const armarx::armem::MemoryID &	faceRecognitionID )

Process a new face recognition result.

Process a face recognition update:

Workflow:

1. Find existing PersonInstance by profile ID
2. If found: Update face data and validate pose link is still plausible
3. If not found: Create new PersonInstance
4. Try to match with a nearby pose (within maxFaceHeadDistance)
5. Ensure tracking ID uniqueness across all PersonInstances

1. Find existing PersonInstance by profile ID
2. If found and has valid pose: check if pose is still plausible (nearby)
   • If implausible: clear pose link and try to find new matching pose
3. If found but no pose: try to find matching pose by proximity
4. If not found: create new PersonInstance and try to find matching pose
5. Ensure tracking ID uniqueness: remove pose links from other PersonInstances that were using the same tracking ID

consumePoseUpdate()

void consumePoseUpdate	(	const armarx::armem::human::HumanPose &	humanPose,
		const armarx::armem::MemoryID &	poseID )

Process a new human pose update.

Process a pose update:

Workflow:

1. Search for PersonInstance with matching tracking ID
2. If not found, try to match by spatial proximity to a recognized face
3. If matched: Update PersonInstance with new pose
4. If not matched: Create new PersonInstance based on pose alone

1. Search for PersonInstance with matching tracking ID
2. If not found, try to match by spatial proximity to a recognized face
3. If matched: Update PersonInstance with new pose ID
4. If not matched: Create new PersonInstance based on pose alone

Note: Whenever a pose can be plausibly matched to a recognized face, it will be. Matched instances get their poseId's updated. If no match is available, a new one is created.

consumeProfileUpdate()

void consumeProfileUpdate	(	const armarx::human::arondto::Person &	profile,
		const armarx::armem::MemoryID &	profileID )

Process a profile update (not yet implemented).

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The documentation for this class was generated from the following files:

• VisionX/components/person_instance_updater/UpdateConsumer.h
• VisionX/components/person_instance_updater/UpdateConsumer.cpp