ObjectShapeClassification.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 "Features/FeatureCalculator.hpp"
 
// RobotAPI
#include <RobotAPI/libraries/core/LinkedPose.h>
 
// Core
#include <ArmarXCore/observers/Observer.h>
#include <ArmarXCore/observers/variant/ChannelRef.h>
 
// VisionX
#include <VisionX/core/ImageProcessor.h>
#include <VisionX/interface/components/ObjectShapeClassification.h>
 
// MemoryX
#include <MemoryX/core/GridFileManager.h>
#include <MemoryX/interface/components/PriorKnowledgeInterface.h>
#include <MemoryX/libraries/memorytypes/entity/ObjectClass.h>
 
//Eigen
#include <map>
#include <mutex>
#include <set>
#include <string>
#include <vector>
 
#include <Eigen/Core>
 
namespace visionx
{
 
 
    class ObjectShapeClassificationPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        ObjectShapeClassificationPropertyDefinitions(std::string prefix) :
            ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "PriorKnowledgeMemoryProxyName",
                "PriorKnowledge",
                "Proxy name for the prior knowledge memory component");
        }
    };
 
    using Point = Eigen::Vector3f;
    using Points = std::vector<Point>;
    using TaggedPoints = std::pair<std::string, Points>;
 
    class ObjectShapeClassification :
        virtual public visionx::ObjectShapeClassificationInterface,
        virtual public armarx::Component
    {
    public:
        std::string
        getDefaultName() const
        {
            return "ObjectShapeClassification";
        }
 
        void onInitComponent();
        void onConnectComponent();
 
 
        std::string FindSimilarKnownObject(const ::visionx::types::PointList& segmentedObjectPoints,
                                           const ::Ice::Current&);
 
    protected:
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        virtual armarx::PropertyDefinitionsPtr
        createPropertyDefinitions()
        {
            return armarx::PropertyDefinitionsPtr(
                new ObjectShapeClassificationPropertyDefinitions(getConfigIdentifier()));
        }
 
    private:
        FeatureCalculator featureCalculator;
 
        void refetchObjects();
        void checkFeatures();
        Points getPointsFromIV(memoryx::ObjectClassPtr obj);
        void matchToFoundPointCloud(const Points& newPoints, const Points& foundPointCloud);
        TaggedPoints compareToDB(Points& points);
 
        std::recursive_mutex mutexEntities;
 
        memoryx::PriorKnowledgeInterfacePrx memoryPrx;
        memoryx::CommonStorageInterfacePrx databasePrx;
        memoryx::PersistentObjectClassSegmentBasePrx classesSegmentPrx;
 
        memoryx::GridFileManagerPtr fileManager;
 
        std::vector<memoryx::ObjectClassPtr> dbObjects;
 
        std::string settings_priorMemory;
 
        bool connected;
    };
 
} // namespace visionx