Processors.cpp

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#include "Processors.h"
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/interface/core/UserException.h>
 
#include "converter/data/image/exr/ExrConverter.h"
#include "converter/data/image/png/PngConverter.h"
#include "extractor/imageExtractor/DepthImageExtractor.h"
#include "extractor/imageExtractor/ImageExtractor.h"
#include "filter/equalityFilter/EqualityFilter.h"
#include "filter/frequencyFilter/FrequencyFilter.h"
#include "filter/importanceFilter/ImportanceFilter.h"
 
namespace armarx::armem::server::ltm
{
    void
    Processors::configure(const nlohmann::json& config)
    {
        // Filters:
        snapFilters.clear();
        if (config.contains(processor::filter::SnapshotFrequencyFilter::NAME))
        {
            ARMARX_IMPORTANT << "ADDING SNAPSHOT FREQUENCY FILTER";
            auto f = std::make_unique<processor::filter::SnapshotFrequencyFilter>();
            f->configure(config[processor::filter::SnapshotFrequencyFilter::NAME]);
            snapFilters.push_back(std::move(f));
        }
        if (config.contains(processor::filter::SnapshotSimilarityFilter::NAME))
        {
            ARMARX_IMPORTANT << "ADDING SNAPSHOT SIMILARITY FILTER";
            auto f = std::make_unique<processor::filter::SnapshotSimilarityFilter>();
            f->configure(config[processor::filter::SnapshotSimilarityFilter::NAME]);
            snapFilters.push_back(std::move(f));
        }
        if (config.contains(processor::filter::SnapshotImportanceFilter::NAME))
        {
            ARMARX_IMPORTANT << "ADDING SNAPSHOT IMPORTANCE FILTER";
            auto f = std::make_unique<processor::filter::SnapshotImportanceFilter>();
            f->configure(config[processor::filter::SnapshotImportanceFilter::NAME]);
            snapFilters.push_back(std::move(f));
        }
 
        // Converters
        if (config.contains(processor::converter::data::image::PngConverter::NAME))
        {
            ARMARX_IMPORTANT << "ADDING IMG CONVERTER PNG";
            auto f = std::make_unique<processor::converter::data::image::PngConverter>();
            f->configure(config[processor::converter::data::image::PngConverter::NAME]);
            converters.push_back(std::move(f));
        }
        if (config.contains(processor::converter::data::image::ExrConverter::NAME))
        {
            ARMARX_IMPORTANT << "ADDING IMG CONVERTER EXR";
            auto f = std::make_unique<processor::converter::data::image::ExrConverter>();
            f->configure(config[processor::converter::data::image::ExrConverter::NAME]);
            converters.push_back(std::move(f));
        }
    }
 
    std::map<std::string, processor::SnapshotFilter::FilterStatistics>
    Processors::getSnapshotFilterStatistics()
    {
        std::map<std::string, processor::SnapshotFilter::FilterStatistics> stats;
        bool recordedOverall = false;
        ARMARX_INFO << "Number of active filters: " << snapFilters.size();
        for (std::size_t i = 0; i < snapFilters.size(); i++)
        {
            auto statistics = snapFilters.at(i)->getFilterStatistics();
            auto recorded = statistics.accepted + statistics.rejected;
            stats[snapFilters.at(i)->getName()] = statistics;
            if (recorded > 0)
            {
                recordedOverall = true;
            }
        }
        if (!recordedOverall)
        {
            throw InvalidArgumentException(
                "NoFilters recorded any data being accepted or rejected, "
                "cant store empty statistics");
        }
        return stats;
    }
 
    void
    Processors::resetFilterStatisticsForNewEpisode()
    {
        ARMARX_DEBUG << "Resetting statistics for filters";
        for (const auto& filter_ptr : this->snapFilters)
        {
            filter_ptr->resetStatisticsForNewEpisode();
        }
    }
} // namespace armarx::armem::server::ltm