CropRobotFromImage.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::CropRobotFromImage
 * @author     Julian Zimmer ( urdbu at student dot kit dot edu )
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#ifndef _ARMARX_COMPONENT_VisionX_CropRobotFromImage_H
#define _ARMARX_COMPONENT_VisionX_CropRobotFromImage_H
 
 
#include <VirtualRobot/Robot.h>
 
#include <ArmarXCore/core/Component.h>
 
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/core/Pose.h>
 
#include <VisionX/core/ImageProcessor.h>
#include <VisionX/core/ImageProvider.h>
 
#include "MaskRobotInImage.h"
 
#include <VisionX/tools/ImageUtil.h>
#include <VisionX/tools/TypeMapping.h>
//#include <VisionX/interface/components/CropRobotFromImageInterface.h>
#include <mutex>
 
#include <Eigen/Core>
 
#include <VisionX/interface/components/Calibration.h>
#include <VisionX/interface/components/PointCloudAndImageAndCalibrationProviderInterface.h>
 
namespace armarx
{
    /**
     * @class CropRobotFromImagePropertyDefinitions
     * @brief
     */
    class CropRobotFromImagePropertyDefinitions : public visionx::ImageProcessorPropertyDefinitions
    {
    public:
        CropRobotFromImagePropertyDefinitions(std::string prefix) :
            visionx::ImageProcessorPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "providerName", "ImageProvider", "Name of the image provider that should be used");
            defineOptionalProperty<std::string>(
                "RobotStateComponentName",
                "RobotStateComponent",
                "Name of the robot state component that should be used");
            defineOptionalProperty<std::string>(
                "cameraFrameName", "DepthCameraSim", "The source frame name");
 
            defineOptionalProperty<float>("filterColorR",
                                          0.f,
                                          "The red value of the background color that has to be "
                                          "different from the robots color. Range 0.f to 255.f");
            defineOptionalProperty<float>("filterColorG",
                                          177.f,
                                          "The green value of the background color that has to be "
                                          "different from the robots color. Range 0.f to 255.f");
            defineOptionalProperty<float>("filterColorB",
                                          64.f,
                                          "The blue value of the background color that has to be "
                                          "different from the robots color. Range 0.f to 255.f");
 
            defineOptionalProperty<float>("collisionModelInflationMargin",
                                          0.f,
                                          "When the collision model is used for the offscreen "
                                          "rendering, it will be inflated by this margin.");
 
            defineOptionalProperty<int>("dilationStrength",
                                        0,
                                        "The strength of the dilation after the masking, which can "
                                        "thicken the part that is cut from the image.");
 
            defineOptionalProperty<bool>(
                "flipImages",
                1,
                "Boolean that indicates, if the rendered image should be flipped. This is needed "
                "e.g. when camera nodes ending on 'Sim' are used.");
            defineOptionalProperty<bool>(
                "useFullModel",
                1,
                "Boolean that indicates, if the full model should be used during the offscreen "
                "rendering. Otherwise the collision model will be used.");
 
 
            defineOptionalProperty<int>(
                "numResultImages", 1, "The number of images processed and provided.");
        }
    };
 
    /**
     * @defgroup Component-CropRobotFromImage CropRobotFromImage
     * @ingroup VisionX-Components
     * A description of the component CropRobotFromImage.
     *
     * @class CropRobotFromImage
     * @ingroup Component-CropRobotFromImage
     * @brief Brief description of class CropRobotFromImage.
     *
     * Detailed description of class CropRobotFromImage.
     */
    class CropRobotFromImage :
        virtual public visionx::ImageProcessor,
        virtual public visionx::StereoCalibrationProcessorInterface
    {
 
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        virtual std::string
        getDefaultName() const override
        {
            return "CropRobotFromImage";
        }
 
        visionx::StereoCalibration
        getStereoCalibration(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return stereoCalibration;
        }
 
        bool
        getImagesAreUndistorted(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return imagesAreUndistorted;
        }
 
        std::string
        getReferenceFrame(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return referenceFrame;
        }
 
        /*
        void setStereoCalibration(visionx::StereoCalibration stereoCalibration, bool imagesAreUndistorted, const std::string& referenceFrame)
        {
            this->stereoCalibration = stereoCalibration;
            this->imagesAreUndistorted = imagesAreUndistorted;
            this->referenceFrame = referenceFrame;
            //calibrationPrx->reportStereoCalibrationChanged(this->stereoCalibration, this->imagesAreUndistorted, this->referenceFrame);
        }
        */
 
 
    protected:
        void process() override;
 
        void onInitImageProcessor() override;
        void onConnectImageProcessor() override;
        void onDisconnectImageProcessor() override;
        void onExitImageProcessor() override;
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    private:
        int width;
        int height;
 
        float fov;
 
        int dilationStrength;
 
        std::mutex mutex;
 
        bool flipImages;
        bool useFullModel;
        float collisionModelInflationMargin;
 
        visionx::ImageProviderInfo imageProviderInfo;
 
 
        std::string providerName;
        std::string cameraFrameName;
 
        int numImages, numResultImages;
        CByteImage** images;
        //CByteImage** result;
 
        visionx::MonocularCalibration depthCameraCalibration;
 
        VirtualRobot::RobotPtr localRobot;
 
        MaskRobotInImage* maskRobot;
 
        float backgroundR;
        float backgroundG;
        float backgroundB;
 
        RobotStateComponentInterfacePrx robotStateComponent;
 
 
        visionx::StereoCalibration stereoCalibration;
        bool imagesAreUndistorted;
        //StereoCalibrationInterfacePrx calibrationPrx;
        std::string referenceFrame;
    };
} // namespace armarx
 
#endif