OLPEvaluation.cpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package VisionX::ArmarXObjects::OLPEvaluation
19  * @author David ( david dot schiebener at kit dot edu )
20  * @date 2015
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 
25 #include "OLPEvaluation.h"
26 
27 #include <thread>
28 
29 #include <ArmarXCore/observers/ObserverObjectFactories.h>
30 
31 namespace visionx
32 {
33 
34  void
35  OLPEvaluation::onInitComponent()
36  {
37  usingProxy(getProperty<std::string>("OLPName").getValue());
38  usingProxy(getProperty<std::string>("OLPObserverName").getValue());
39  usingProxy(getProperty<std::string>("ImageProviderName").getValue());
40  usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
41  }
42 
43  void
44  evaluateOLP(OLPEvaluation* p, bool testRecognition)
45  {
46  usleep(500000);
47 
48  armarx::NameControlModeMap controlMode;
49  controlMode["Neck_1_Pitch"] = armarx::ePositionControl;
50  controlMode["Cameras"] = armarx::ePositionControl;
51  p->kinematicUnitProxy->switchControlMode(controlMode);
52  armarx::NameValueMap jointValues;
53  jointValues["Neck_1_Pitch"] = 0.3;
54  jointValues["Cameras"] = -0.3;
55  p->kinematicUnitProxy->setJointAngles(jointValues);
56 
57  std::vector<std::string> imageFilePathsLeft, imageFilePathsRight;
58 
59  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/01-Cheez-It/snapshot_left_0000.bmp");
60  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/01-Cheez-It/snapshot_right_0000.bmp");
61  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/06-Master-Chef/snapshot_left_0000.bmp");
62  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/06-Master-Chef/snapshot_right_0000.bmp");
63  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/08a-Pringles-standing/snapshot_left_0000.bmp");
64  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/08a-Pringles-standing/snapshot_right_0000.bmp");
65  imageFilePathsLeft.push_back(
66  "/homes/staff/schieben/datalog/YCB/Head/09-Frenchs-Mustard/snapshot_left_0000.bmp");
67  imageFilePathsRight.push_back(
68  "/homes/staff/schieben/datalog/YCB/Head/09-Frenchs-Mustard/snapshot_right_0000.bmp");
69  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/11-Banana/snapshot_left_0000.bmp");
70  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/11-Banana/snapshot_right_0000.bmp");
71 
72  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/14-Lemon/snapshot_left_0000.bmp");
73  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/14-Lemon/snapshot_right_0000.bmp");
74  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/17-Orange/snapshot_left_0000.bmp");
75  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/17-Orange/snapshot_right_0000.bmp");
76  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/22-Pitcher/snapshot_left_0000.bmp");
77  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/22-Pitcher/snapshot_right_0000.bmp");
78  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/25-Bowl/snapshot_left_0000.bmp");
79  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/25-Bowl/snapshot_right_0000.bmp");
80  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/31-Mug/snapshot_left_0000.bmp");
81  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/31-Mug/snapshot_right_0000.bmp");
82 
83  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/36-Marker/snapshot_left_0000.bmp");
84  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/36-Marker/snapshot_right_0000.bmp");
85  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/39-Padlock/snapshot_left_0000.bmp");
86  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/39-Padlock/snapshot_right_0000.bmp");
87  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/42-Screwdriver/snapshot_left_0000.bmp");
88  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/42-Screwdriver/snapshot_right_0000.bmp");
89  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/46-Clamp/snapshot_left_0000.bmp"); //<-----
90  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/46-Clamp/snapshot_right_0000.bmp"); //<-----
91  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/53-Mini-Soccer-Ball/snapshot_left_0000.bmp");
92  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/53-Mini-Soccer-Ball/snapshot_right_0000.bmp");
93 
94  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/55-Tennis-Ball/snapshot_left_0000.bmp"); //<-----
95  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/55-Tennis-Ball/snapshot_right_0000.bmp"); //<-----
96  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/58-Marbles/snapshot_left_0000.bmp");
97  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/58-Marbles/snapshot_right_0000.bmp");
98  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/62-Cup-Lila/snapshot_left_0000.bmp");
99  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/62-Cup-Lila/snapshot_right_0000.bmp");
100  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/66-Rope/snapshot_left_0000.bmp");
101  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/66-Rope/snapshot_right_0000.bmp");
102  // imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/70-Colored-Wood-Blocks/snapshot_left_0000.bmp");
103  // imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/70-Colored-Wood-Blocks/snapshot_right_0000.bmp");
104 
105  //imageFilePathsLeft.push_back("/homes/staff/schieben/datalog/YCB/Head/76-Timer/snapshot_left_0000.bmp");
106  //imageFilePathsRight.push_back("/homes/staff/schieben/datalog/YCB/Head/76-Timer/snapshot_right_0000.bmp");
107 
108 
109  if (testRecognition)
110  {
111  ARMARX_IMPORTANT_S << "Starting recognition evaluation";
112 
113  imageFilePathsLeft.clear();
114  imageFilePathsLeft.push_back(
115  "/homes/staff/schieben/datalog/YCB/Head/reco-test/img_pos/snapshot_left_0000.bmp");
116  imageFilePathsRight.push_back(
117  "/homes/staff/schieben/datalog/YCB/Head/reco-test/img_pos/snapshot_right_0000.bmp");
118 
119  std::vector<std::string> objectNames;
120  objectNames.push_back("Orange");
121 
122  for (size_t objectNumber = 0; objectNumber < imageFilePathsLeft.size(); objectNumber++)
123  {
124  p->imageProviderProxy->setImageFilePath(imageFilePathsLeft.at(objectNumber),
125  imageFilePathsRight.at(objectNumber));
126 
127  usleep(5000000);
128 
129  for (int i = 0; i < 6; i++)
130  {
131  p->olpProxy->recognizeObject(objectNames.at(objectNumber));
132 
133  usleep(1000000);
134  ARMARX_INFO_S << "Loading image number " << i + 1;
135  p->imageProviderProxy->loadNextImage();
136  usleep(3000000);
137  }
138  }
139 
140  ARMARX_IMPORTANT_S << "Finished recognition evaluation";
141  }
142  else
143  {
144  ARMARX_IMPORTANT_S << "Starting segmentation evaluation";
145 
146  for (size_t objectNumber = 0; objectNumber < imageFilePathsLeft.size(); objectNumber++)
147  {
148  p->imageProviderProxy->setImageFilePath(imageFilePathsLeft.at(objectNumber),
149  imageFilePathsRight.at(objectNumber));
150 
151  usleep(5000000);
152 
153  int olpStatus = 0;
154 
155  // create initial hypotheses
156 
157  p->olpProxy->CreateInitialObjectHypotheses();
158 
159  usleep(1000000);
160  p->imageProviderProxy->loadNextImage();
161  usleep(3000000);
162 
163  do
164  {
165  usleep(100000);
166  olpStatus = p->olpObserverProxy
167  ->getDataField(new armarx::DataFieldIdentifierBase(
168  "ObjectLearningByPushingObserver",
169  "objectHypotheses",
170  "initialHypothesesCreated"))
171  ->getInt();
172  } while (olpStatus == 0);
173 
174  if (olpStatus == -1)
175  {
176  ARMARX_WARNING_S
177  << "Creation of initial hypotheses failed, skipping this object";
178  continue;
179  }
180 
181  // only for LCCP evaluation
182  //ARMARX_IMPORTANT_S << "Skipping and continuing with next scene for LCCP evaluation";
183  //continue;
184 
185 
186  // validate initial hypotheses
187 
188  p->olpProxy->ValidateInitialObjectHypotheses();
189 
190  usleep(1000000);
191  p->imageProviderProxy->loadNextImage();
192  usleep(3000000);
193 
194  do
195  {
196  usleep(100000);
197  olpStatus = p->olpObserverProxy
198  ->getDataField(new armarx::DataFieldIdentifierBase(
199  "ObjectLearningByPushingObserver",
200  "objectHypotheses",
201  "hypothesesValidated"))
202  ->getInt();
203  } while (olpStatus == 0);
204 
205  if (olpStatus == -1)
206  {
207  ARMARX_WARNING_S
208  << "Validation of initial hypotheses failed, skipping this object";
209  continue;
210  }
211 
212 
213  // revalidate hypotheses
214 
215  for (int i = 2; i <= 5; i++)
216  {
217  ARMARX_INFO_S << "Loading image number " << i;
218 
219  p->olpProxy->RevalidateConfirmedObjectHypotheses();
220 
221  usleep(1000000);
222  p->imageProviderProxy->loadNextImage();
223  usleep(3000000);
224 
225  do
226  {
227  usleep(100000);
228  olpStatus = p->olpObserverProxy
229  ->getDataField(new armarx::DataFieldIdentifierBase(
230  "ObjectLearningByPushingObserver",
231  "objectHypotheses",
232  "hypothesesValidated"))
233  ->getInt();
234  } while (olpStatus == 0);
235 
236  if (olpStatus == -1)
237  {
238  ARMARX_WARNING_S << "Validation of hypotheses failed, skipping this object";
239  break;
240  }
241  }
242 
243  ARMARX_IMPORTANT_S << "Finished segmentation of object " << objectNumber + 1
244  << " of " << imageFilePathsLeft.size();
245  }
246 
247  ARMARX_IMPORTANT_S << "Finished segmenting all objects";
248  }
249  }
250 
251  void
252  OLPEvaluation::onConnectComponent()
253  {
254  olpProxy = getProxy<ObjectLearningByPushingInterfacePrx>(
255  getProperty<std::string>("OLPName").getValue());
256  olpObserverProxy = getProxy<ObjectLearningByPushingListenerPrx>(
257  getProperty<std::string>("OLPObserverName").getValue());
258  imageProviderProxy = getProxy<ImageFileSequenceProviderInterfacePrx>(
259  getProperty<std::string>("ImageProviderName").getValue());
260  kinematicUnitProxy = getProxy<armarx::KinematicUnitInterfacePrx>(
261  getProperty<std::string>("KinematicUnitName").getValue());
262  bool testRecognition = getProperty<bool>("TestRecognition").getValue();
263 
264  std::thread t([=, this]() { evaluateOLP(this, testRecognition); });
265  t.detach();
266  }
267 
268  void
269  OLPEvaluation::onDisconnectComponent()
270  {
271  }
272 
273  void
274  OLPEvaluation::onExitComponent()
275  {
276  }
277 
278  armarx::PropertyDefinitionsPtr
279  OLPEvaluation::createPropertyDefinitions()
280  {
281  return armarx::PropertyDefinitionsPtr(
282  new OLPEvaluationPropertyDefinitions(getConfigIdentifier()));
283  }
284 } // namespace visionx
visionx::evaluateOLP
void evaluateOLP(OLPEvaluation *p, bool testRecognition)
Definition: OLPEvaluation.cpp:44
ARMARX_IMPORTANT_S
#define ARMARX_IMPORTANT_S
Definition: Logging.h:210
visionx::OLPEvaluation::createPropertyDefinitions
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
Definition: OLPEvaluation.cpp:279
visionx
ArmarX headers.
Definition: OpenPoseStressTest.h:38
visionx::OLPEvaluation::imageProviderProxy
ImageFileSequenceProviderInterfacePrx imageProviderProxy
Definition: OLPEvaluation.h:113
visionx::OLPEvaluation::onExitComponent
void onExitComponent() override
Definition: OLPEvaluation.cpp:274
visionx::OLPEvaluation::onDisconnectComponent
void onDisconnectComponent() override
Definition: OLPEvaluation.cpp:269
visionx::OLPEvaluation::kinematicUnitProxy
armarx::KinematicUnitInterfacePrx kinematicUnitProxy
Definition: OLPEvaluation.h:114
visionx::OLPEvaluationPropertyDefinitions
Definition: OLPEvaluation.h:41
visionx::OLPEvaluation::olpObserverProxy
ObjectLearningByPushingListenerPrx olpObserverProxy
Definition: OLPEvaluation.h:112
ObserverObjectFactories.h
OLPEvaluation.h
visionx::OLPEvaluation::onConnectComponent
void onConnectComponent() override
Definition: OLPEvaluation.cpp:252
visionx::OLPEvaluation
Brief description of class OLPEvaluation.
Definition: OLPEvaluation.h:72
visionx::OLPEvaluation::olpProxy
ObjectLearningByPushingInterfacePrx olpProxy
Definition: OLPEvaluation.h:111
ARMARX_WARNING_S
#define ARMARX_WARNING_S
Definition: Logging.h:213
armarx::control::njoint_controller::platform::platform_follower_controller::NameValueMap
std::map< std::string, float > NameValueMap
Definition: PlatformFollowerController.h:88
armarx::Component::getConfigIdentifier
std::string getConfigIdentifier()
Retrieve config identifier for this component as set in constructor.
Definition: Component.cpp:79
IceUtil::Handle< class PropertyDefinitionContainer >
ARMARX_INFO_S
#define ARMARX_INFO_S
Definition: Logging.h:202
armarx::PropertyDefinitionsPtr
IceUtil::Handle< class PropertyDefinitionContainer > PropertyDefinitionsPtr
PropertyDefinitions smart pointer type.
Definition: forward_declarations.h:35
armarx::ManagedIceObject::usingProxy
bool usingProxy(const std::string &name, const std::string &endpoints="")
Registers a proxy for retrieval after initialization and adds it to the dependency list.
Definition: ManagedIceObject.cpp:154
visionx::OLPEvaluation::onInitComponent
void onInitComponent() override
Definition: OLPEvaluation.cpp:35