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--[BE] - SensorAttributes/Managers refactor Part 1 (#2502)
* --init * --enum maps to convert sensor enums to/from strings * --better organization; complete AbstractSensorAttr setup * --add audio and abstract visual sensor stubs * --add config support for Vector2i * --Sensor enum maps; AbstractVisualSensorAttributes * --complete audio sensor attributes * --add CameraSensorAttributes * --add CubeMap-based attributes * --use correct class name * --SensorAttributesManager initial commit. * --remove reference to "unique_id" in the attributes. The handle will fulfill this role. * --add attributes for Custom sensors * --rename 'none' to 'unspecified' in SensorType and SensorSubType * --type check for template function * --expanded SensorAttributes creation code * --add 'custom' entry for SensorType along with SensorSubType * --add code to populate attributes from appropriate spec This code will be removed when SensorSpecs are removed. * --give sensorattributes unique handle/registration key. * --verify works for both audio enabled and disabled. * --expand sensor attributes manager functions * --Define CustomSensorAttributes to be held within a subconfig similar to user_defined. * --add bindings for custom sensor-related enums * --add ref to SensorAttributesManager in MM * --fix missing method, incorrect map name; * --hide instantiation temporarily to stop test linking error. * --appropriately mark unused arguments * --remove unused include * --some scene-lib-related refactors * --create sensorAttributesManager in MM * --add sensor attributes and manager filenames to cmakelist * --minor - stub out sensor tests * --test building all types of sensor attributes from sensor specs * --set a 1 cm default fisheye focal length.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,63 @@ | ||
| // Copyright (c) Meta Platforms, Inc. and its affiliates. | ||
| // This source code is licensed under the MIT license found in the | ||
| // LICENSE file in the root directory of this source tree. | ||
|
|
||
| #include "AbstractSensorAttributes.h" | ||
| namespace esp { | ||
| namespace metadata { | ||
| namespace attributes { | ||
|
|
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| AbstractSensorAttributes::AbstractSensorAttributes( | ||
| const std::string& attributesClassKey, | ||
| const std::string& handle) | ||
| : AbstractAttributes(attributesClassKey, handle) { | ||
| init("position", Mn::Vector3{0.0, 1.5, 0.0}); | ||
| init("orientation", Mn::Vector3{0.0, 0.0, 0.0}); | ||
| init("noise_model", "None"); | ||
|
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| initTranslated("sensor_type", | ||
| getSensorTypeName(sensor::SensorType::Unspecified)); | ||
| initTranslated("sensor_subtype", | ||
| getSensorSubTypeName(sensor::SensorSubType::Unspecified)); | ||
| } // AbstractSensorAttributes ctor | ||
|
|
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| void AbstractSensorAttributes::populateWithSensorSpec( | ||
| const sensor::SensorSpec::ptr& spec) { | ||
| setPosition(spec->position); | ||
| setOrientation(spec->orientation); | ||
| setNoiseModel(spec->noiseModel); | ||
| setSensorTypeEnum(spec->sensorType); | ||
| setSensorSubTypeEnum(spec->sensorSubType); | ||
| } // AbstractSensorAttributes::populateWithSensorSpec | ||
|
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| void AbstractSensorAttributes::writeValuesToJson( | ||
| io::JsonGenericValue& jsonObj, | ||
| io::JsonAllocator& allocator) const { | ||
| // write AbstractSensorAttributes to JSON | ||
| writeValueToJson("position", jsonObj, allocator); | ||
| writeValueToJson("orientation", jsonObj, allocator); | ||
| writeValueToJson("noise_model", jsonObj, allocator); | ||
| writeValueToJson("sensor_type", jsonObj, allocator); | ||
| writeValueToJson("sensor_subtype", jsonObj, allocator); | ||
|
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| // call child-class-specific | ||
| writeValuesToJsonInternal(jsonObj, allocator); | ||
| } // AbstractSensorAttributes::writeValuesToJson | ||
|
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| std::string AbstractSensorAttributes::getObjectInfoHeaderInternal() const { | ||
| return "Position XYZ,Orientation XYZ,Noise Model,Sensor " | ||
| "Type,Sensor Subtype," + | ||
| getAbstractSensorInfoHeaderInternal(); | ||
| } // AbstractSensorAttributes::getObjectInfoHeaderInternal | ||
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| std::string AbstractSensorAttributes::getObjectInfoInternal() const { | ||
| return Cr::Utility::formatString("{},{},{},{},{},{}", getAsString("position"), | ||
| getAsString("orientation"), getNoiseModel(), | ||
| getSensorTypeName(getSensorType()), | ||
| getSensorSubTypeName(getSensorSubType()), | ||
| getAbstractSensorInfoInternal()); | ||
| } // AbstractSensorAttributes::getObjectInfoInternal | ||
|
|
||
| } // namespace attributes | ||
| } // namespace metadata | ||
| } // namespace esp |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,207 @@ | ||
| // Copyright (c) Meta Platforms, Inc. and its affiliates. | ||
| // This source code is licensed under the MIT license found in the | ||
| // LICENSE file in the root directory of this source tree. | ||
|
|
||
| #ifndef ESP_METADATA_ATTRIBUTES_ABSTRACTSENSORATTRIBUTES_H_ | ||
| #define ESP_METADATA_ATTRIBUTES_ABSTRACTSENSORATTRIBUTES_H_ | ||
|
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| #include "AbstractAttributes.h" | ||
|
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| namespace esp { | ||
| namespace metadata { | ||
| namespace attributes { | ||
|
|
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| /** | ||
| * @brief Attributes object holding the descriptions of a Sensor object | ||
| */ | ||
| class AbstractSensorAttributes : public AbstractAttributes { | ||
| public: | ||
| AbstractSensorAttributes(const std::string& classKey, | ||
| const std::string& handle); | ||
|
|
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| /** | ||
| * @brief Populate this attributes from an appropriate @ref sensor::SensorSpec. | ||
| * @todo Remove when SensorSpecs are removed | ||
| * | ||
| */ | ||
| virtual void populateWithSensorSpec(const sensor::SensorSpec::ptr& spec); | ||
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| /** @brief Set the position of the sensor. */ | ||
| void setPosition(const Magnum::Vector3& position) { | ||
| set("position", position); | ||
| } | ||
|
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| /** @brief Get the position of the sensor. */ | ||
| Magnum::Vector3 getPosition() const { | ||
| return get<Magnum::Vector3>("position"); | ||
| } | ||
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| /** @brief Set the position of the sensor. */ | ||
| void setOrientation(const Magnum::Vector3& orientation) { | ||
| set("orientation", orientation); | ||
| } | ||
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| /** @brief Get the position of the sensor. */ | ||
| Magnum::Vector3 getOrientation() const { | ||
| return get<Magnum::Vector3>("orientation"); | ||
| } | ||
|
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| /** @brief Sets the noise model to use for this sensor. */ | ||
| void setNoiseModel(const std::string& noise_model) { | ||
| set("noise_model", noise_model); | ||
| } | ||
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| /** @brief Gets the noise model to use for this sensor. */ | ||
| std::string getNoiseModel() const { return get<std::string>("noise_model"); } | ||
|
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| /** | ||
| * @brief Set the sensor type for this sensor. | ||
| */ | ||
| void setSensorType(const std::string& sensorType) { | ||
| // force to lowercase to check if present | ||
| const std::string sensorTypeLC = Cr::Utility::String::lowercase(sensorType); | ||
| auto mapIter = SensorTypeNamesMap.find(sensorTypeLC); | ||
| if (mapIter == SensorTypeNamesMap.end()) { | ||
| ESP_ERROR(Mn::Debug::Flag::NoSpace) | ||
| << "'" << sensorType | ||
| << "' is an illegal value for " | ||
| "AbstractSensorAttributes::setSensorType, so current value " | ||
| << get<std::string>("sensor_type") << " not changed."; | ||
| return; | ||
| } | ||
| setTranslated("sensor_type", sensorType); | ||
| } // setSensorType | ||
|
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| /** | ||
| * @brief Set the sensor type for this sensor as specified by given @ref SensorType | ||
| */ | ||
| void setSensorTypeEnum(sensor::SensorType sensorTypeEnum) { | ||
| // force to lowercase to check if present | ||
| const std::string sensorType = getSensorTypeName(sensorTypeEnum); | ||
| auto mapIter = SensorTypeNamesMap.find(sensorType); | ||
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| ESP_CHECK(mapIter != SensorTypeNamesMap.end(), | ||
| "Illegal SensorType enum value given" | ||
| << static_cast<int>(sensorTypeEnum) << ":" << sensorType | ||
| << "attempted to be initialized in AbstractSensorAttributes:" | ||
| << getHandle() << ". Aborting."); | ||
|
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| setTranslated("sensor_type", sensorType); | ||
| } // setSensorTypeEnum | ||
|
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| /** | ||
| * @brief Get the sensor type for this sensor. | ||
| */ | ||
| sensor::SensorType getSensorType() const { | ||
| const std::string val = | ||
| Cr::Utility::String::lowercase(get<std::string>("sensor_type")); | ||
| auto mapIter = SensorTypeNamesMap.find(val); | ||
| if (mapIter != SensorTypeNamesMap.end()) { | ||
| return mapIter->second; | ||
| } | ||
| // This should never get to here. It would mean that this field was set | ||
| // to an invalid value somehow. | ||
| return sensor::SensorType::Unspecified; | ||
| } | ||
|
|
||
| /** | ||
| * @brief Set the sensor type for this sensor. | ||
| */ | ||
| void setSensorSubType(const std::string& sensorSubType) { | ||
| // force to lowercase to check if present | ||
| const std::string sensorTypeLC = | ||
| Cr::Utility::String::lowercase(sensorSubType); | ||
| auto mapIter = SensorSubTypeNamesMap.find(sensorTypeLC); | ||
| if (mapIter == SensorSubTypeNamesMap.end()) { | ||
| ESP_ERROR(Mn::Debug::Flag::NoSpace) | ||
| << "'" << sensorSubType | ||
| << "' is an illegal value for " | ||
| "AbstractSensorAttributes::setSensorSubType, so current value " | ||
| << get<std::string>("sensor_subtype") << " not changed."; | ||
| return; | ||
| } | ||
| setTranslated("sensor_subtype", sensorSubType); | ||
| } // setSensorSubType | ||
|
|
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| /** | ||
| * @brief Set the sensor subtype for this sensor as specified by given @ref SensorSubType | ||
| */ | ||
| void setSensorSubTypeEnum(sensor::SensorSubType sensorSubTypeEnum) { | ||
| // force to lowercase to check if present | ||
| const std::string sensorSubType = getSensorSubTypeName(sensorSubTypeEnum); | ||
| auto mapIter = SensorSubTypeNamesMap.find(sensorSubType); | ||
|
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| ESP_CHECK(mapIter != SensorSubTypeNamesMap.end(), | ||
| "Illegal SensorSubType enum value given" | ||
| << static_cast<int>(sensorSubTypeEnum) << ":" << sensorSubType | ||
| << "attempted to be initialized in AbstractSensorAttributes:" | ||
| << getHandle() << ". Aborting."); | ||
|
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| setTranslated("sensor_subtype", sensorSubType); | ||
| } // setSensorSubTypeEnum | ||
|
|
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| /** | ||
| * @brief Get the sensor subtype for this sensor. | ||
| */ | ||
| sensor::SensorSubType getSensorSubType() const { | ||
| const std::string val = | ||
| Cr::Utility::String::lowercase(get<std::string>("sensor_subtype")); | ||
| auto mapIter = SensorSubTypeNamesMap.find(val); | ||
| if (mapIter != SensorSubTypeNamesMap.end()) { | ||
| return mapIter->second; | ||
| } | ||
| // This should never get to here. It would mean that this field was set | ||
| // to an invalid value somehow. | ||
| return sensor::SensorSubType::Unspecified; | ||
| } // getSensorSubType | ||
|
|
||
| /** | ||
| * @brief Populate a json object with all the first-level values held in this | ||
| * configuration. Default is overridden to handle special cases for | ||
| * AbstractSensorAttributes and deriving (i.e. AudioSensorAttributes or | ||
| * VisualSensorAttributes) classes. | ||
| */ | ||
| void writeValuesToJson(io::JsonGenericValue& jsonObj, | ||
| io::JsonAllocator& allocator) const override; | ||
|
|
||
| protected: | ||
| /** | ||
| * @brief Write child-class-specific values to json object | ||
| * | ||
| */ | ||
| virtual void writeValuesToJsonInternal( | ||
| CORRADE_UNUSED io::JsonGenericValue& jsonObj, | ||
| CORRADE_UNUSED io::JsonAllocator& allocator) const {} | ||
|
|
||
| /** | ||
| * @brief Retrieve a comma-separated string holding the header values for the | ||
| * info returned for this managed object, type-specific. | ||
| */ | ||
|
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| std::string getObjectInfoHeaderInternal() const override; | ||
| /** | ||
| * @brief get AbstractSensorAttributes-specific info header | ||
| */ | ||
| virtual std::string getAbstractSensorInfoHeaderInternal() const { | ||
| return ""; | ||
| }; | ||
|
|
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| /** | ||
| * @brief Retrieve a comma-separated informational string about the contents | ||
| * of this managed object. | ||
| */ | ||
| std::string getObjectInfoInternal() const override; | ||
| /** | ||
| * @brief get AbstractSensorAttributes specific info for csv string | ||
| */ | ||
| virtual std::string getAbstractSensorInfoInternal() const { return ""; }; | ||
|
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| public: | ||
| ESP_SMART_POINTERS(AbstractSensorAttributes) | ||
| }; // class AbstractSensorAttributes | ||
|
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| } // namespace attributes | ||
| } // namespace metadata | ||
| } // namespace esp | ||
|
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| #endif // ESP_METADATA_ATTRIBUTES_ABSTRACTSENSORATTRIBUTES_H_ |
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