comply to the new ORK API

cells/detect.cpp

@@ -69,7 +69,7 @@ namespace parts_based_detector
  *  This class implements the detection cell of the ECTO
  *  pipeline using the PartsBasedDetector method
  */
-struct PartsBasedDetectorCell: public object_recognition_core::db::bases::ModelReaderImpl
+struct PartsBasedDetectorCell: public object_recognition_core::db::bases::ModelReaderBase
 {
 	typedef pcl::PointXYZ PointType;
 	typedef pcl::PointCloud<PointType> PointCloud;
@@ -97,7 +97,7 @@ struct PartsBasedDetectorCell: public object_recognition_core::db::bases::ModelR
 	 *
 	 * @param db_documents the recognition database documents
 	 */
-	void ParameterCallback(const object_recognition_core::db::Documents&)
+	void parameter_callback(const object_recognition_core::db::Documents&)
 	{
 	}
 
@@ -112,6 +112,7 @@ struct PartsBasedDetectorCell: public object_recognition_core::db::bases::ModelR
 	 */
 	static void declare_params(tendrils& params)
 	{
+		object_recognition_core::db::bases::declare_params_impl(params);
 		params.declare(&PartsBasedDetectorCell::visualize_, "visualize",
 				"Visualize results", false);
 		params.declare(&PartsBasedDetectorCell::remove_planes_, "remove_planes",
@@ -120,8 +121,6 @@ struct PartsBasedDetectorCell: public object_recognition_core::db::bases::ModelR
 				"The path to the model file").required(true);
 		params.declare(&PartsBasedDetectorCell::max_overlap_, "max_overlap",
 				"The maximum overlap allowed between object detections", 0.1);
-		params.declare(&PartsBasedDetectorCell::object_db_, "db",
-				"The object db.");
 	}
 
 	/*! @brief declare the I/O of the detector
@@ -166,7 +165,7 @@ struct PartsBasedDetectorCell: public object_recognition_core::db::bases::ModelR
 	void configure(const tendrils& params, const tendrils& inputs,
 			const tendrils& outputs)
 	{
-
+		configure_impl();
 		std::cout << "MODEL: " << *model_file_ << std::endl;
 		// create the model object and deserialize it
 		FileStorageModel model;

conf/config_face.by_parts

@@ -1,21 +1,22 @@
 source1:
-  type: ros_kinect
+  type: RosKinect
+  module: object_recognition_ros.io
   rgb_frame_id: '/camera_rgb_optical_frame'
 
 sink1:
-  type: 'publisher'
-  module: 'object_recognition_ros.io'
+  type: Publisher
+  module: object_recognition_ros.io
 
 sink2:
-  type: 'by_parts_publisher'
-  package: 'object_recognition_by_parts'
+  type: Publisher
+  module: 'object_recognition_by_parts'
 
 pipeline1:
-  type: 'by_parts'
+  type: PartsBasedDetector
   module: 'object_recognition_by_parts'
-  subtype: 'HOG'
-  sources: [source1]
-  sinks: [sink1, sink2]
+  submethod: 'HOG'
+  inputs: [source1]
+  outputs: [sink1, sink2]
   parameters:
     db:
       type: 'CouchDB'

conf/config_person.by_parts

@@ -1,27 +1,27 @@
 source1:
-  type: ros_kinect
+  type: RosKinect
+  module: 'object_recognition_ros.io'
   rgb_frame_id: '/camera_rgb_optical_frame'
 
 sink1:
-  type: 'publisher'
+  type: Publisher
   module: 'object_recognition_ros.io'
 
 sink2:
-  type: 'by_parts_publisher'
-  package: 'object_recognition_by_parts'
+  type: Publisher
+  module: 'object_recognition_by_parts'
 
 pipeline1:
-  type: 'by_parts'
+  type: PartsBasedDetector
   module: 'object_recognition_by_parts'
   subtype: 'HOG'
   sources: [source1]
   sinks: [sink1, sink2]
   parameters:
     db:
-      type: 'CouchDB'
-      root: 'http://bwl:5984'
-      collection: 'object_recognition'
-
+      type: CouchDB
+      root: http://bwl:5984
+      collection: object_recognition
     # The list of object_ids to analyze
     #object_ids: "all"
     object_ids: ['1acfa3a425f5637f958c0eaff31fe42d']

python/object_recognition_by_parts/__init__.py

@@ -1,3 +1,3 @@
 #from .trainer import *
-from .detector import PartsBasedDetectionPipeline
-from .publisher import PublisherSink
+from .detector import PartsBasedDetector
+from .publisher import Publisher

python/object_recognition_by_parts/detector.py

@@ -4,7 +4,7 @@
 """
 
 from object_recognition_core.db import ObjectDb, Models
-from object_recognition_core.pipelines.detection import DetectionPipeline
+from object_recognition_core.pipelines.detection import DetectorBase
 from object_recognition_core.utils import json_helper
 from ecto_image_pipeline.conversion import MatToPointCloudXYZOrganized
 from object_recognition_by_parts_cells import Detector
@@ -13,13 +13,11 @@
 import ecto
 from ecto import BlackBoxCellInfo as CellInfo, BlackBoxForward as Forward
 
-class PBDDetector(ecto.BlackBox):
+class PartsBasedDetector(ecto.BlackBox, DetectorBase):
 
-    def __init__(self, object_db, object_ids, visualize, *args, **kwargs):
-        self.object_db = object_db
-        self.object_ids = object_ids
-        self.visualize = visualize
+    def __init__(self, *args, **kwargs):
         ecto.BlackBox.__init__(self, *args, **kwargs)
+        DetectorBase.__init__(self)
 
     def declare_cells(self, _p):
         return {'detector': CellInfo(Detector), 'mat_to_cloud': MatToPointCloudXYZOrganized()}
@@ -34,35 +32,3 @@ def declare_forwards(self, _p):
 
     def connections(self, _p):
         return [ self.mat_to_cloud['point_cloud'] >> self.detector['input_cloud'] ]
-
-
-#####################################################################################################################
-
-class PartsBasedDetectionPipeline(DetectionPipeline):
-
-    @classmethod
-    def config_doc(cls):
-        return  """
-                    # The subtype can be any YAML that will help differentiate
-                    # between TOD methods: we usually use the descriptor name
-                    # but anything like parameters could be used
-                    subtype:
-                        type: ""
-                    # TOD requires several parameters
-                    parameters:
-                        # TODO
-                """
-
-    @classmethod
-    def type_name(cls):
-        return 'by_parts'
-
-    @classmethod
-    def detector(self, *args, **kwargs):
-        visualize = kwargs.pop('visualize', False)
-        submethod = kwargs.pop('subtype')
-        parameters = kwargs.pop('parameters')
-        object_ids = parameters['object_ids']
-        object_db = ObjectDb(parameters['db'])
-        model_documents = Models(object_db, object_ids, self.type_name(), json_helper.dict_to_cpp_json_str(submethod))
-        return PBDDetector(object_db, object_ids, visualize, *args, **parameters['extra'])

python/object_recognition_by_parts/publisher.py

@@ -4,7 +4,7 @@
 
 from ecto_ros import Mat2Image
 from ecto_ros.ecto_sensor_msgs import Publisher_Image
-from object_recognition_core.io.sink import Sink
+from object_recognition_core.io.sink import SinkBase
 import ecto
 from ecto import BlackBoxForward as Forward
 
@@ -14,6 +14,10 @@ class Publisher(ecto.BlackBox):
     """
     Class publishing some outputs from the part based detection
     """
+    def __init__(self, *args, **kwargs):
+        ecto.BlackBox.__init__(self, *args, **kwargs)
+        #SinkBase.__init__(self)
+
     def declare_cells(self, p):
         return {'image_converter': Mat2Image(swap_rgb=False)}
 
@@ -27,15 +31,3 @@ def connections(self, _p):
         connections = [self.image_converter['image'] >> self.image_publisher['input'] ]
 
         return connections
-
-########################################################################################################################
-
-class PublisherSink(Sink):
-
-    @classmethod
-    def type_name(cls):
-        return 'by_parts_publisher'
-
-    @classmethod
-    def sink(self, *args, **kwargs):
-        return Publisher()

test/CMakeLists.txt

@@ -2,9 +2,9 @@
 find_package(object_recognition_core QUIET)
 if (object_recognition_core_FOUND)
     enable_testing()
-    object_recognition_core_detection_test(${CMAKE_CURRENT_SOURCE_DIR}/../conf/config_face.by_parts)
-    object_recognition_core_detection_test(${CMAKE_CURRENT_SOURCE_DIR}/../conf/config_person.by_parts)
-    #object_recognition_core_training_test(${CMAKE_CURRENT_SOURCE_DIR}/../conf/config_training.by_parts)
+    object_recognition_core_config_test(${CMAKE_CURRENT_SOURCE_DIR}/../conf/config_face.by_parts)
+    object_recognition_core_config_test(${CMAKE_CURRENT_SOURCE_DIR}/../conf/config_person.by_parts)
+    #object_recognition_core_config_test(${CMAKE_CURRENT_SOURCE_DIR}/../conf/config_training.by_parts)
     # publisher tests
-    object_recognition_core_sink_test(by_parts_publisher "object_recognition_by_parts" "{}")
+    #object_recognition_core_sink_test(Publisher "object_recognition_by_parts" "{}")
 endif()