rm lib

Author: MoscowskyAnton

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "src/lib"]
+	path = src/lib
+	url = https://github.com/Extended-Object-Detection-ROS/lib.git

CMakeLists.txt

@@ -117,6 +117,8 @@ add_executable(
     src/lib/detectors/RoughDistanceDetector.cpp
     src/lib/detectors/DistanceDetector.cpp 
     src/lib/detectors/FaceDlibDetector.cpp 
+    src/lib/detectors/ExtractedInfoIdChecker.cpp
+    src/lib/detectors/ExtractedInfoStringChecker.cpp
 
     # lib relations        
     src/lib/relations/ImageRangeRelation.cpp
@@ -236,8 +238,7 @@ add_executable(
     src/lib/utils/drawing_utils.cpp
     src/lib/utils/contour_utils.cpp
     # detectors
-    src/lib/detectors/BlobDetector.cpp
-    #src/lib/detectors/SizeDetector.cpp
+    src/lib/detectors/BlobDetector.cpp    
 )
 
 # dlib face descriptors saver
@@ -303,6 +304,8 @@ add_executable(
     src/lib/detectors/RoughDistanceDetector.cpp
     src/lib/detectors/DistanceDetector.cpp    
     src/lib/detectors/FaceDlibDetector.cpp 
+    src/lib/detectors/ExtractedInfoIdChecker.cpp
+    src/lib/detectors/ExtractedInfoStringChecker.cpp
 
     # lib relations
     src/lib/relations/ImageRangeRelation.cpp
@@ -352,6 +355,8 @@ add_executable(
     src/lib/detectors/RoughDistanceDetector.cpp
     src/lib/detectors/DistanceDetector.cpp    
     src/lib/detectors/FaceDlibDetector.cpp 
+    src/lib/detectors/ExtractedInfoIdChecker.cpp
+    src/lib/detectors/ExtractedInfoStringChecker.cpp
 
     # lib relations
     src/lib/relations/ImageRangeRelation.cpp

config/object_base_example/ObjectBaseExample.xml

@@ -38,9 +38,7 @@
 
     <Attribute Name="BasicMotion" Type="BasicMotion">
         <Clusterization Type="FOREL" R="50" eps="15"/>
-    </Attribute>    
-    
-    <Attribute Name="Aruco4-13" Type="Aruco" Dict="0" IDmarker="13" Lenght="0.082"/>
+    </Attribute>            
 
     <Attribute Name="Aruco4" Type="Aruco" Dict="0" IDmarker="-1" Lenght="0.082"/>
 
@@ -54,7 +52,7 @@
 
     <Attribute Name="Lower" Type="Pose" x_min="0" x_max="1" y_min="0.5" y_max="1"/>    
 
-    <Attribute Name="COCO_Dnn" Type="Dnn" framework="tensorflow" weights="ssd_mobilenet_v1_coco_2017_11_17/frozen_inference_graph.pb" config="ssd_mobilenet_v1_coco_2017_11_17/config.pbtxt" labels="ssd_mobilenet_v1_coco_2017_11_17/mscoco_label_map.pbtxt" inputWidth="300" inputHeight="300" Probability="0.75" obj_id="-1" forceCuda="1"/>
+    <Attribute Name="COCO_Dnn" Type="Dnn" framework="tensorflow" weights="ssd_mobilenet_v1_coco_2017_11_17/frozen_inference_graph.pb" config="ssd_mobilenet_v1_coco_2017_11_17/config.pbtxt" labels="ssd_mobilenet_v1_coco_2017_11_17/mscoco_label_map.pbtxt" inputWidth="300" inputHeight="300" Probability="0.5" forceCuda="1"/>
 
     <Attribute Name="CupDnn" Type="Dnn" framework="tensorflow" weights="ssd_mobilenet_v1_coco_2017_11_17/frozen_inference_graph.pb" config="ssd_mobilenet_v1_coco_2017_11_17/config.pbtxt" labels="ssd_mobilenet_v1_coco_2017_11_17/mscoco_label_map.pbtxt" inputWidth="300" inputHeight="300" Probability="0.75" obj_id="47"/>    
 
@@ -88,6 +86,20 @@
 
     <Attribute Name="DlibFace" Type="FaceDlib" Probability="0.4" base_file_path="face_recognition/base_faces.db" base_dir_path="face_recognition/base_faces/" sp_path="face_recognition/shape_predictor_5_face_landmarks.dat" net_path="face_recognition/dlib_face_recognition_resnet_model_v1.dat"/>
 
+    <Attribute Name="ID13" Type="ExtractedInfoID" field="Aruco4:marker_id" allowed="13" forbidden=""/>
+    
+    <Attribute Name="COCO_cup" Type="ExtractedInfoID" field="COCO_Dnn:class_id" allowed="47" forbidden=""/>
+    
+    <Attribute Name="COCO_person" Type="ExtractedInfoString" field="COCO_Dnn:class_label" allowed="pers" partially="1"/>
+    
+    <Attribute Name="COCO_lifeforms" Type="ExtractedInfoString" field="COCO_Dnn:class_label" allowed="person bird cat dog horse sheep cow elephant bear zebra giraffe" partially="0"/>
+    
+    <Attribute Name="COCO_transport" Type="ExtractedInfoString" field="COCO_Dnn:class_label" allowed="bicycle car motorcycle airplane bus train truck boat" partially="0"/>
+    
+    <Attribute Name="COCO_dynamic" Type="LogicOr" A="COCO_lifeforms" B="COCO_transport"/>
+    
+    <Attribute Name="COCO_static" Type="LogicNot" A="COCO_dynamic"/>
+    
 </AttributeLib>
 
 <SimpleObjectBase>  
@@ -171,7 +183,8 @@
     </SimpleObject>aruco_space
 
     <SimpleObject Name="Aruco4-13" ID="40">              
-        <Attribute Type="Detect">Aruco4-13</Attribute>            
+        <Attribute Type="Detect">Aruco4</Attribute>
+        <Attribute Type="Check">ID13</Attribute>            
     </SimpleObject>
 
     <SimpleObject Name="Aruco6" ID="41">              
@@ -204,15 +217,17 @@
         <Attribute Type="Detect">SocialRobotsCover</Attribute>            
         <Attribute Type="Check">NotFractal</Attribute>
     </SimpleObject>
-    
+      
     <SimpleObject Name="COCO_dnn_object" ID="60">              
         <Attribute Type="Detect">COCO_Dnn</Attribute>                    
     </SimpleObject>
 
     <SimpleObject Name="RedCup" ID="61" Mode="Hard" MergingPolicy="Union">           
+        <Attribute Type="Detect">COCO_Dnn</Attribute>        
+        <Attribute Type="Check">COCO_cup</Attribute>
         <Attribute Type="Detect">HistDarkRed</Attribute>                    
         <Attribute Type="Check">NotFractal</Attribute>
-        <Attribute Type="Detect">CupDnn</Attribute>        
+        
     </SimpleObject>
 
     <SimpleObject Name="RedCup2" ID="62" Probability="0.5">                   
@@ -238,7 +253,9 @@
     </SimpleObject>
 
     <SimpleObject Name="CnnPerson" ID="67">              
-        <Attribute Type="Detect">CnnPerson</Attribute>        
+        <Attribute Type="Detect">COCO_Dnn</Attribute>
+        <Attribute Type="Check">COCO_person</Attribute>                
+        
     </SimpleObject>    
 
     <SimpleObject Name="RedCupFull" ID="68" Mode="Hard" MergingPolicy="Union">           
@@ -247,7 +264,8 @@
         <Attribute Type="Detect" Weight="2">CupDnn</Attribute>
         <Attribute Type="Extract" Channel="DEPTH">DepthKinect</Attribute>
         <Tracker IOU="0.25" decay="0.01">MOSSE</Tracker>
-    </SimpleObject>
+    </SimpleObject>            
+        
 
     <SimpleObject Name="QRcode" ID="70">                   
         <Attribute Type="Detect">QrcodeCV</Attribute>        
@@ -257,6 +275,16 @@
         <Attribute Type="Detect">QrcodeZbar</Attribute>        
     </SimpleObject>
 
+    <SimpleObject Name="COCO_dynamic" ID="72">              
+        <Attribute Type="Detect">COCO_Dnn</Attribute>   
+        <Attribute Type="Check">COCO_dynamic</Attribute>   
+    </SimpleObject>
+    
+    <SimpleObject Name="COCO_static" ID="73">              
+        <Attribute Type="Detect">COCO_Dnn</Attribute>      
+        <Attribute Type="Check">COCO_static</Attribute>   
+    </SimpleObject>
+    
     <SimpleObject Name="BlobPingui" ID="80">                   
         <Attribute Type="Detect">MyBlobAttribute</Attribute>        
     </SimpleObject>    

msg/ExtractedInfo.msg

@@ -1,2 +1,2 @@
-int32 sub_id
-string text
+string[] keys
+string[] values

msg/SimpleObject.msg

@@ -2,7 +2,7 @@
 int32 type_id                               # id of type, corresponded to object base
 string type_name                            # name of type, corresponded to object base
 float64 score                               # confidence coefficient of current result
-extended_object_detection/ExtractedInfo[] extracted_info
+extended_object_detection/ExtractedInfo extracted_info
 
 # object position and geometry
 geometry_msgs/Transform transform           # transform to object center

src/extended_object_detection_node/extended_object_detection_node.cpp

@@ -314,11 +314,15 @@ extended_object_detection::SimpleObject ros_msg_from_extended(ExtendedObjectInfo
     current_object.track.id = ext_obj->track_id;
 
 
-    for( size_t i = 0 ; i < ext_obj->sub_id.size(); i++ ){
-        extended_object_detection::ExtractedInfo ei;
-        ei.sub_id = ext_obj->sub_id[i];
-        ei.text = ext_obj->extracted_info[i];
-        current_object.extracted_info.push_back(ei);
+//     for( size_t i = 0 ; i < ext_obj->sub_id.size(); i++ ){
+//         extended_object_detection::ExtractedInfo ei;
+//         ei.sub_id = ext_obj->sub_id[i];
+//         ei.text = ext_obj->extracted_info[i];
+//         current_object.extracted_info.push_back(ei);
+//     }
+    for( auto const& exi : ext_obj->extracted_info){
+        current_object.extracted_info.keys.push_back(exi.first);
+        current_object.extracted_info.values.push_back(exi.second);        
     }
 
 #if (CV_MAJOR_VERSION > 3)
@@ -599,7 +603,7 @@ visualization_msgs::MarkerArray marker_array_simple(vector<extended_object_detec
 
             }
             // extracted_info
-            else if( visualizationTypes[i] == "extracted_info" ){
+            /*else if( visualizationTypes[i] == "extracted_info" ){
                 if( objects[j].extracted_info.size() > 0){
                     marker.ns = "extracted_info";
                     
@@ -622,7 +626,7 @@ visualization_msgs::MarkerArray marker_array_simple(vector<extended_object_detec
                 else
                     continue;
                 
-            }       
+            }   */    
             // contour
             else if( visualizationTypes[i] == "contour" ){
                 if( objects[j].contour.contourTranslates.size() > 0){