MaskRCNNPointCloudObjectLocalizer.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    VisionX::ArmarXObjects::MaskRCNNPointCloudObjectLocalizer
 * @author     Markus Grotz ( markus dot grotz at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <Eigen/Core>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/interface/observers/RequestableService.h>
 
#include <RobotAPI/interface/core/PoseBase.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
#include <VisionX/components/pointcloud_core/PCLUtilities.h>
#include <VisionX/components/pointcloud_core/PointCloudProcessor.h>
#include <VisionX/interface/components/SimpleLocation.h>
 
#include <MemoryX/core/MemoryXCoreObjectFactories.h>
#include <MemoryX/interface/core/ProbabilityMeasures.h>
 
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
//#include <pcl/point_types.h>
 
//#include <pcl/common/transforms.h>
 
//#include <pcl/io/pcd_io.h>
 
//#include <pcl/filters/filter.h>
//#include <pcl/filters/passthrough.h>
//#include <pcl/filters/approximate_voxel_grid.h>
 
//#include <pcl/features/normal_3d.h>
//#include <pcl/features/normal_3d_omp.h>
//#include <pcl/features/fpfh_omp.h>
//#include <pcl/features/shot_omp.h>
//#include <pcl/search/kdtree.h>
//#include <pcl/kdtree/kdtree_flann.h>
 
//#include <pcl/registration/icp.h>
//#include <pcl/registration/gicp6d.h>
 
//#include <pcl/correspondence.h>
#include <pcl/recognition/cg/geometric_consistency.h>
#pragma GCC diagnostic pop
 
#include <limits>
 
namespace visionx
{
 
 
    typedef pcl::PointXYZRGBA PointT;
    typedef pcl::PointXYZRGBL PointL;
    typedef pcl::FPFHSignature33 PointD;
 
    //typedef pcl::SHOT352 PointD;
 
    /**
     * @class MaskRCNNPointCloudObjectLocalizerPropertyDefinitions
     * @brief
     */
    class MaskRCNNPointCloudObjectLocalizerPropertyDefinitions :
        public visionx::PointCloudProcessorPropertyDefinitions
    {
    public:
        MaskRCNNPointCloudObjectLocalizerPropertyDefinitions(std::string prefix) :
            visionx::PointCloudProcessorPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "agentName",
                "Armar6",
                "Name of the agent for which the sensor values are provided");
            defineOptionalProperty<std::string>(
                "sourceNodeName",
                "DepthCamera",
                "the robot node to use as source coordinate system for the captured point clouds");
            defineOptionalProperty<std::string>(
                "ObjectNameIdMap",
                "spraybottle:1;screwdriver:2;torch:3;cloth:4;cutter:5;pliers:6;brush:7",
                "map between object names and mask rcnn names",
                armarx::PropertyDefinitionBase::eModifiable);
            defineOptionalProperty<uint32_t>("BackgroundLabelId",
                                             0,
                                             "Label in the pointcloud for the plane or background.",
                                             armarx::PropertyDefinitionBase::eModifiable);
 
            defineOptionalProperty<std::string>(
                "DebugDrawerTopic", "DebugDrawerUpdates", "Name of the DebugDrawerTopic");
        }
    };
 
    /**
 
      http://pointclouds.org/documentation/tutorials/global_hypothesis_verification.php
     * @class MaskRCNNPointCloudObjectLocalizer
     *
     * @ingroup VisionX-Components
     * @brief A brief description
     *
     *
     * Detailed Description
     */
    class MaskRCNNPointCloudObjectLocalizer :
        virtual public armarx::SimpleLocationInterface,
        virtual public PointCloudProcessor
    {
    public:
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "MaskRCNNPointCloudObjectLocalizer";
        }
 
        void getLocation(armarx::FramedOrientationBasePtr& orientation,
                         armarx::FramedPositionBasePtr& position,
                         const Ice::Current& c = ::Ice::Current()) override;
 
        memoryx::ObjectLocalizationResultList
        localizeObjectClasses(const memoryx::ObjectClassNameList& objectClassNames,
                              const Ice::Current& c = ::Ice::Current()) override;
 
    protected:
        /**
         * @see visionx::PointCloudProcessor::onInitPointCloudProcessor()
         */
        void onInitPointCloudProcessor() override;
 
        /**
         * @see visionx::PointCloudProcessor::onConnectPointCloudProcessor()
         */
        void onConnectPointCloudProcessor() override;
 
        /**
         * @see visionx::PointCloudProcessor::onDisconnectPointCloudProcessor()
         */
        void onDisconnectPointCloudProcessor() override;
 
        /**
         * @see visionx::PointCloudProcessor::onExitPointCloudProcessor()
         */
        void onExitPointCloudProcessor() override;
 
        /**
         * @see visionx::PointCloudProcessor::process()
         */
        void process() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
 
    private:
        std::mutex pointCloudMutex;
 
 
        std::string agentName;
 
        std::string providerName;
        std::string sourceNodeName;
 
 
        std::mutex localizeMutex;
 
 
        armarx::DebugDrawerInterfacePrx debugDrawerPrx;
        armarx::RequestableServiceListenerInterfacePrx serviceTopic;
    };
} // namespace visionx