Project: engagement_recognition License: BSD Dependencies: engagement_msgs engagement_srvs roscpp Used by: None All Packages

engagement_recognition/src/recognition/objects/engagement_objects.cpp Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ // @author Brett Ponsler (bponsler (at) wpi (dot) edu) #include "engagement_objects.h" #include "../lib/engagement_params.h" #include "../recognizers/directed_gaze/directed_gaze_recognizer.h" #include <vector> #include <string> #include <stdio.h> #include <ros/ros.h> namespace objects { bool areObjects(std::vector<bml_msgs::Entity> vec) { if (vec.size() > 0) { // Make sure each object is the object type for (unsigned c = 0; c < vec.size(); c++) { if (vec.at(c).type != bml_msgs::Entity::OBJECT || vec.at(c).type != bml_msgs::Entity::UNKNOWN) return false; } return true; } return false; } bool isFace(std::vector<bml_msgs::Entity> vec, std::string id) { // Only look at one actor's face if (vec.size() == 1) return (vec.at(0).type == bml_msgs::Entity::FACE && vec.at(0).id == id); return false; } bml_msgs::Entity objectToEntity(std::string object) { // Create the entity message bml_msgs::Entity entity = bml_msgs::Entity(); // Set the type to an object, and the id to the object's id entity.type = bml_msgs::Entity::OBJECT; entity.id = std::string(object); return entity; } std::vector<bml_msgs::Entity> getEntitiesFromObjects(std::vector<std::string> vec) { // The vector of entities std::vector<bml_msgs::Entity> entities = std::vector<bml_msgs::Entity>(); // Make sure objects exist if (vec.size() > 0) { // Traverse the vector, and add al the new entity message to the objects for (unsigned c = 0; c < vec.size(); c++) entities.push_back(objects::objectToEntity(vec.at(c))); } return entities; } std::vector<std::string> getObjectsFromEntities(std::vector<bml_msgs::Entity> vec) { // The vector of objects std::vector<std::string> objects = std::vector<std::string>(); // Make sure entity messages exist if (vec.size() > 0) { // Traverse the vector, and add the entity message to the objects for (unsigned c = 0; c < vec.size(); c++) { // Only add the object's id if it is an object type if (vec.at(c).type == bml_msgs::Entity::OBJECT || vec.at(c).type == bml_msgs::Entity::UNKNOWN) { objects.push_back(vec.at(c).id); } } } return objects; } std::string toString(std::vector<std::string> vec) { // First place all the objects into the message // The format for this string is as follows: // <object> ... std::string objects = ""; unsigned i; // Loop through all the objects in the message for (i = 0; i < vec.size(); i++) { // Only add a space if there was an object // in the string before it if (i > 0) objects += " "; // Add the next object with a space before it objects += vec.at(i); } // Return a copy of the string we just created return objects; } bool same(std::vector<std::string> vec1, std::vector<std::string> vec2) { // Make sure each vector contains objects // If the sizes of the vectors are not the same, they do not // contain the same set of objects. if (vec1.size() > 0 && vec2.size() > 0 && vec1.size() == vec2.size()) { // Determine if they contain the same set of objects return objects::contains(vec1, vec2); } return false; } bool contains(std::vector<std::string> vec1, std::vector<std::string> vec2) { // Make sure each vector contains objects if (vec1.size() > 0 && vec2.size() > 0) { // Loop through the second vector for (unsigned i = 0; i < vec2.size(); i++) { // Determine if the object was found bool found = false; // Loop through the first vector for (unsigned j = 0; j < vec1.size(); j++) { // If the objects are equal if (vec2.at(i) == vec1.at(j)) { found = true; break; } } // Check to make sure we found the object if (!found) { // The object in vec2 was not in vec1 return false; } } // If we've made it here then vector one contains all of // vector two's objects return true; } return false; } bool intersect(std::vector<std::string> vec1, std::vector<std::string> vec2) { // Make sure each vector contains objects if (vec1.size() > 0 && vec2.size() > 0) { // Loop through the first vector for (unsigned i = 0; i < vec1.size(); i++) { // Determine if the object was found bool found = false; // Loop through the second vector for (unsigned j = 0; j < vec2.size(); j++) { if (vec1.at(i) == vec2.at(j)) { found = true; break; } } // Check to make sure we found the object if (found) { // We have an intersection return true; } } } return false; } std::vector<std::string> addObjects(std::vector<std::string> vec1, std::vector<std::string> vec2) { // Grab the size of the first vector prior to adding any elements unsigned size = vec1.size(); // Loop through the second vector for (unsigned i = 0; i < vec2.size(); i++) { // Keep track of whether the object was found in vec1 or not bool found = false; // Loop through the first vector for (unsigned j = 0; j < size; j++) { // Compare the objects if (vec1.at(j) == vec2.at(i)) { found = true; break; } } // If the object was not found then add it if (!found) vec1.push_back(vec2.at(i)); } return vec1; } std::vector<std::string> removeObjects(std::vector<std::string> vec1, std::vector<std::string> vec2) { // Loop through the second vector for (unsigned i = 0; i < vec2.size(); i++) { // Keep track of whether it was found or not bool found = false; // Loop through the first vector for (unsigned j = 0; j < vec1.size(); j++) { // Compare the objects if (vec1.at(j) == vec2.at(i)) { // Remove it from the first vector vec1.erase(vec1.begin() + j); // Found the object found = true; break; } } } return vec1; } std::vector<std::string> highestProbability(std::vector<std::string> objects, std::vector<float> probs) { std::vector<std::string> indices = std::vector<std::string>(); float maxProb = probs.at(0); int maxIndex = 0; // Find the highest probability that is given for (unsigned c = 1; c < probs.size(); c++) { // Determine if this object has the highest probability if (probs.at(c) > maxProb) { maxProb = probs.at(c); maxIndex = c; } } indices.push_back(objects.at(maxIndex)); return indices; } void keepHighest(engagement_msgs::Performance &msg) { float maxProb = msg.prob.at(0); bml_msgs::Entity maxEntity = msg.objects.at(0); // Find the highest probability that is given for (unsigned c = 1; c < msg.prob.size(); c++) { // Determine if this object has the highest probability if (msg.prob.at(c) > maxProb) { maxProb = msg.prob.at(c); maxEntity = msg.objects.at(c); } } // Clear the objects, and probabilities msg.objects.clear(); msg.prob.clear(); // Add the maximum entity, and maximum probability msg.objects.push_back(maxEntity); msg.prob.push_back(maxProb); } bool pertains(EventSink *sink, std::vector<std::string> objects) { DirectedGazeRecognizer *rec = (DirectedGazeRecognizer*)sink; if (rec) { bool found = false; // Determine if the object for this recognizer exists in the vector for (unsigned c = 0; c < objects.size(); c++) { // Determine if this is the correct object if (objects.at(c) == rec->getObject()) { found = true; break; } } return found; } return false; } } // objects namespace

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engagement_recognition
Author(s): Brett Ponsler (bponsler (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:48 2011