Object.cpp

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#include "Object.h"


Object::Object():ObjectName("")
{
    Average = ObjectPointSharedPointer(new ObjectPoint(0,0,0,-1)); //-1 is the ID for AveragePos point
        ObjectsCount= 0;
        PosVar = 0.0;
        AverageDistanceToOtherObjects = 0.0;
        PresenceInScene = 0.0;
        NormalizedPosVar = 0.0;
        NormalizedAverageDistanceToOtherObjects = 0.0;
        rankValue = 0.0;
        RankingMethod = 0;
        Alpha = 0;
        Beta = 0;
        Gamma = 0;
}

Object::Object(std::string objectName, std::string observedId, int rankingMethodEntry, double alphaEntry, double betaEntry, double gammaEntry)
:ObjectName(objectName),ObservedId(observedId),RankingMethod(rankingMethodEntry),Alpha(alphaEntry),Beta(betaEntry),Gamma(gammaEntry)
{
    Average = ObjectPointSharedPointer(new ObjectPoint(0,0,0,-1)); //-1 is the ID for AveragePos point
        ObjectsCount= 0;
        PosVar = 0.0;
        AverageDistanceToOtherObjects = 0.0;
        PresenceInScene = 0.0;
        NormalizedPosVar = 0.0;
        NormalizedAverageDistanceToOtherObjects = 0.0;
        rankValue = 0.0;
}

Object::~Object()
{

}

void Object::CalcAveragePos()
{
        double mx = 0;
        double my = 0;
        double mz = 0;
        //To get the average pos we "sum" the points, that compose the Object.
    for (std::vector<ObjectPointSharedPointer>::iterator pointIterator = PointList.begin() ; pointIterator != PointList.end(); ++pointIterator)
                {
                mx += (*pointIterator)->getX();
                my += (*pointIterator)->getY();
                mz += (*pointIterator)->getZ();
                }
    Average->updatePoint(mx/ObjectsCount,my/ObjectsCount,mz/ObjectsCount); //divide by the number of points recorded for the object.
    ROS_DEBUG_STREAM("IObjects::CalcAveragePos object " << this->ObjectName << " average position (x,y,z):("
                     << Average->getX() << ", " << Average->getY() << ", " << Average->getZ() << ")");
}

void Object::CalcPosVar()
{

        double vx;
        double vy;
        double vz;
        //for each point, calc the average distance to average position.
    for (std::vector<ObjectPointSharedPointer>::iterator pointIterator = PointList.begin() ; pointIterator != PointList.end(); ++pointIterator)
        {
        vx = pow((*pointIterator)->getX() - Average->getX(),2);
        vy = pow((*pointIterator)->getY() - Average->getY(),2);
        vz = pow((*pointIterator)->getZ() - Average->getZ(),2);
        ROS_DEBUG_STREAM("IObjects::CalcPosVar object " << this->ObjectName <<
                         " got values for position variation (vx,vy,vz):("
                         << vx << ", " << vy << ", " << vz << ")");
                PosVar += sqrt(vx + vy + vz);
        ROS_DEBUG_STREAM("IObjects::CalcPosVar incremented position variation " << this->PosVar);

        }
        PosVar = PosVar/ObjectsCount; //divide result by number of points.
    ROS_DEBUG_STREAM("IObjects::CalcPosVar final position variation " << this->PosVar);
}

void Object::rank()
{
        //Average the different criteria to get the rank value ( between 0 and 1 ) for the object.
        if(RankingMethod == 0)
        {
                rankValue = Alpha*PresenceInScene / (Beta*NormalizedPosVar * Gamma*NormalizedAverageDistanceToOtherObjects);
        }
        else if(RankingMethod == 1)
        {
                rankValue = Alpha*PresenceInScene + Beta/NormalizedPosVar + Beta/NormalizedAverageDistanceToOtherObjects;
        }
}

void Object::DisplayStats()
{
    ROS_DEBUG_STREAM("IObjects::DisplayStats displaying stats for object" << ObjectName);
    ROS_DEBUG_STREAM("IObjects::DisplayStats presence in scene " << PresenceInScene);
    ROS_DEBUG_STREAM("IObjects::DisplayStats average position variation " << PosVar);
    ROS_DEBUG_STREAM("IObjects::DisplayStats normalized average position variation " << NormalizedPosVar);
    ROS_DEBUG_STREAM("IObjects::DisplayStats average distance to other objects "
                     << AverageDistanceToOtherObjects);
    ROS_DEBUG_STREAM("IObjects::DisplayStats normalized average distance to other objects "
                     << NormalizedAverageDistanceToOtherObjects);
    ROS_DEBUG_STREAM("IObjects::DisplayStats rank value " << rankValue);
}

void Object::publishLogs(std::string filePath)
{
        std::ofstream file(filePath, std::ios::out | std::ios::app);
        if(file)
        {
                file << std::endl <<"Object " << this->ObjectName << std::endl;
                file << "Pos Var " << PosVar << std::endl;
                file << "Presence in scene " << PresenceInScene << std::endl;
                file << "AverageDistanceToOtherObjects " << AverageDistanceToOtherObjects << std::endl;
                file << "Normalized Pos " << NormalizedPosVar << std::endl;
                file << "Normalized distance " << NormalizedAverageDistanceToOtherObjects << std::endl;
                file << "Rank value " << rankValue << std::endl;
                file.close();
        }
}