From 92d43a42b19f9683d1f008e8b6d78391d6c68e12 Mon Sep 17 00:00:00 2001
From: Joana Plewnia <joana.plewnia@kit.edu>
Date: Wed, 5 Feb 2025 17:00:07 +0100
Subject: [PATCH] added EqualitySnapshotFilter - navigates to all leaf nodes of
the dict and accepts the snapshot if at least one leaf is unequal to the last
acepted snapshot - is dependent on the definition of equality of the leaf
objects
---
.../libraries/armem/server/CMakeLists.txt | 4 +-
.../server/ltm/processors/Processors.cpp | 8 +
.../filter/equalityFilter/EqualityFilter.cpp | 237 ++++--------------
.../filter/equalityFilter/EqualityFilter.h | 20 +-
.../similarityFilter/SimilarityFilter.cpp | 229 +++++++++++++++++
.../similarityFilter/SimilarityFilter.h | 45 ++++
6 files changed, 336 insertions(+), 207 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/processors/filter/similarityFilter/SimilarityFilter.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/processors/filter/similarityFilter/SimilarityFilter.h
diff --git a/source/RobotAPI/libraries/armem/server/CMakeLists.txt b/source/RobotAPI/libraries/armem/server/CMakeLists.txt
index 728c22ba6..7f77dd305 100644
--- a/source/RobotAPI/libraries/armem/server/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/server/CMakeLists.txt
@@ -60,8 +60,8 @@ set(LIB_FILES
ltm/processors/filter/Filter.cpp
ltm/processors/filter/frequencyFilter/FrequencyFilter.cpp
+ ltm/processors/filter/similarityFilter/SimilarityFilter.cpp
ltm/processors/filter/equalityFilter/EqualityFilter.cpp
- #ltm/processors/filter/similarityFilter/SimilarityFilter.cpp
ltm/processors/filter/importanceFilter/ImportanceFilter.cpp
ltm/processors/extractor/Extractor.cpp
@@ -153,8 +153,8 @@ set(LIB_HEADERS
ltm/processors/filter/Filter.h
ltm/processors/filter/frequencyFilter/FrequencyFilter.h
+ ltm/processors/filter/similarityFilter/SimilarityFilter.h
ltm/processors/filter/equalityFilter/EqualityFilter.h
- #ltm/processors/filter/similarityFilter/SimilarityFilter.h
ltm/processors/filter/importanceFilter/ImportanceFilter.h
ltm/processors/extractor/Extractor.h
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/Processors.cpp b/source/RobotAPI/libraries/armem/server/ltm/processors/Processors.cpp
index a2405db2d..24e69eeb4 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/Processors.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/Processors.cpp
@@ -10,6 +10,7 @@
#include "filter/equalityFilter/EqualityFilter.h"
#include "filter/frequencyFilter/FrequencyFilter.h"
#include "filter/importanceFilter/ImportanceFilter.h"
+#include "filter/similarityFilter/SimilarityFilter.h"
namespace armarx::armem::server::ltm
{
@@ -39,6 +40,13 @@ namespace armarx::armem::server::ltm
f->configure(config[processor::filter::SnapshotImportanceFilter::NAME]);
snapFilters.push_back(std::move(f));
}
+ if (config.contains(processor::filter::SnapshotEqualityFilter::NAME))
+ {
+ ARMARX_IMPORTANT << "ADDING SNAPSHOT EQUALITY FILTER";
+ auto f = std::make_unique<processor::filter::SnapshotEqualityFilter>();
+ f->configure(config[processor::filter::SnapshotEqualityFilter::NAME]);
+ snapFilters.push_back(std::move(f));
+ }
// Converters
if (config.contains(processor::converter::data::image::PngConverter::NAME))
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.cpp b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.cpp
index 0d5090c7a..d5e1aa733 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.cpp
@@ -1,229 +1,86 @@
#include "EqualityFilter.h"
-#include <list>
-
-#include <IceUtil/Time.h>
-
-#include "RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h"
-#include "RobotAPI/libraries/aron/core/data/variant/primitive/Float.h"
-
namespace armarx::armem::server::ltm::processor::filter
{
bool
- SnapshotSimilarityFilter::accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion)
+ SnapshotEqualityFilter::accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion)
{
auto start = std::chrono::high_resolution_clock::now();
- int num_instances = 0;
- std::vector<armarx::aron::data::NDArrayPtr> images_snapshot;
- std::vector<armarx::aron::data::FloatPtr> floats_snapshot;
- std::vector<float> distances;
+ MemoryID entityID = e.id().getEntityID();
+
+ bool accept_because_first = false;
+ bool accept_because_different = false;
+ int instance_count = 0;
+ std::vector<aron::data::DictPtr> currentData;
+
+ if (this->dataLastCommit[entityID].size() < 1)
+ {
+ accept_because_first = true;
+ ARMARX_INFO << "first snapshot -> accept";
+ e.forEachInstance(
+ [this, &accept_because_different, &instance_count, ¤tData](
+ armem::wm::EntityInstance& i)
+ {
+ auto data = aron::data::Dict::DynamicCastAndCheck(i.data());
+ currentData.push_back(data);
+ });
+ this->dataLastCommit[entityID] = std::move(currentData);
+ return true;
+ }
e.forEachInstance(
- [&num_instances, &images_snapshot, &floats_snapshot](armem::wm::EntityInstance& i)
+ [this, &accept_because_different, &instance_count, ¤tData, &entityID](
+ armem::wm::EntityInstance& i)
{
auto data = aron::data::Dict::DynamicCastAndCheck(i.data());
- for (auto key : data->getAllKeys())
+ if (this->dataLastCommit[entityID].size() > instance_count)
{
- aron::data::Descriptor img_desc;
- try
- {
- auto d = data->at(key);
- ;
- img_desc = data->at(key)->getDescriptor();
- }
- catch (...)
- {
- ARMARX_INFO << "Problem with accessing image description";
- img_desc = aron::data::Descriptor::NDARRAY;
- }
- if (img_desc == aron::data::Descriptor::NDARRAY)
- {
- auto img_nd = aron::data::NDArray::DynamicCastAndCheck(data->at(key));
- images_snapshot.insert(images_snapshot.end(), img_nd);
- num_instances++;
- }
- else if (img_desc == aron::data::Descriptor::FLOAT)
+ armarx::aron::data::DictPtr lastData =
+ this->dataLastCommit[entityID][instance_count];
+ currentData.push_back(data);
+ if (*data == *lastData)
{
- auto fl = aron::data::Float::DynamicCastAndCheck(data->at(key));
- floats_snapshot.push_back(fl);
- num_instances++;
+ ARMARX_INFO << "Data in EntityInstance is the same, not updating Instance";
}
else
{
- ARMARX_INFO << "data-type not yet supported. \n"
- << "Only ndarray and float data types are supported for "
- "equality filters yet.";
+ //ARMARX_INFO << VAROUT(*data);
+ //ARMARX_INFO << VAROUT(*lastData);
+ //if one instance differs we accept the whole snapshot
+ ARMARX_INFO << "Data is not the same";
+ accept_because_different = true;
}
}
+ instance_count++;
});
- if (images.size() < 2)
+ if (accept_because_different)
{
- ARMARX_INFO << "Adding first images, because nothing to compare";
- images.push_back(images_snapshot);
- this->stats.accepted += 1;
- auto end = std::chrono::high_resolution_clock::now();
- stats.end_time = end;
- stats.additional_time += (end - start);
+ ARMARX_INFO << "Accepting this snapshot: " << e.id();
+ this->dataLastCommit[entityID] = std::move(currentData);
return true;
}
- else if (images.size() < max_images)
- {
- ARMARX_INFO << "Not enough elements yet to do full comparison of last " << max_images
- << " elements";
- images.push_back(images_snapshot);
- this->stats.accepted += 1;
- auto end = std::chrono::high_resolution_clock::now();
- stats.end_time = end;
- stats.additional_time += (end - start);
- return true;
- }
-
-
- std::vector<armarx::aron::data::NDArrayPtr> lastCommittedImages;
- int sizeOfCommited = 0;
- for (int i = 0; i < max_images; i++)
- {
- std::vector<armarx::aron::data::NDArrayPtr> lastCommitImages =
- images.at(images.size() - i - 1);
- sizeOfCommited = lastCommitImages.size();
- for (int j = 0; j < lastCommitImages.size(); j++)
- {
- lastCommittedImages.push_back(lastCommitImages.at(j));
- }
- // we just concatenate all images (instances)
- }
-
- ARMARX_CHECK(sizeOfCommited == images_snapshot.size()); //make sure we have enough instances
- for (int i = 0; i < images_snapshot.size(); i++)
- {
- armarx::aron::data::NDArrayPtr new_image = images_snapshot.at(i);
- std::vector<armarx::aron::data::NDArrayPtr> commited_images;
- for (int j = 0; j < max_images; j++)
- {
- int index = i + 2 * j;
- auto image = lastCommittedImages.at(index);
- commited_images.emplace_back(image);
- }
-
- float distance = aron::similarity::NDArraySimilarity::calculate_similarity_multi(
- commited_images, new_image, this->similarity_type);
-
- distances.insert(distances.end(), distance);
- }
-
- //check for criterion:
- float sum_distances = 0;
- float max_distance = 0;
- for (auto d : distances)
- {
- sum_distances += d;
- if (d > max_distance)
- {
- max_distance = d;
- }
- }
-
- bool max =
- true; //set true if only maximum distance value is important and false if sum of distances is important
- bool accept = false;
-
- if (max)
- {
- accept = (max_distance > this->threshold);
- }
- else
- {
- accept = (sum_distances > this->threshold);
- }
-
- if (accept)
- {
- images.pop_front(); //delete first element
- images.push_back(images_snapshot);
- this->stats.accepted += 1;
- auto end = std::chrono::high_resolution_clock::now();
- stats.additional_time += (end - start);
- stats.end_time = end;
- return true;
- }
- else
- {
- this->stats.rejected += 1;
- auto end = std::chrono::high_resolution_clock::now();
- stats.additional_time += (end - start);
- stats.end_time = end;
- return false;
- }
+ return false;
}
void
- SnapshotSimilarityFilter::configure(const nlohmann::json& json)
+ SnapshotEqualityFilter::configure(const nlohmann::json& json)
{
- if (json.find(PARAM_THRESHOLD) != json.end())
- {
- threshold = json.at(PARAM_THRESHOLD);
- ARMARX_INFO << VAROUT(threshold);
- stats.additional_info += "Threshold-Parameter: ";
- stats.additional_info += std::to_string(threshold);
- }
- if (json.find(PARAM_SIM_MEASURE) != json.end())
- {
- std::string type_string = json.at(PARAM_SIM_MEASURE);
- if (type_string == "MSE")
- {
- this->similarity_type = aron::similarity::NDArraySimilarity::Type::MSE;
- this->float_similarity_type = aron::similarity::FloatSimilarity::Type::MSE;
- stats.similarity_type = aron::similarity::NDArraySimilarity::Type::MSE;
- }
- else if (type_string == "MAE")
- {
- this->similarity_type = aron::similarity::NDArraySimilarity::Type::MAE;
- this->float_similarity_type = aron::similarity::FloatSimilarity::Type::MAE;
- stats.similarity_type = aron::similarity::NDArraySimilarity::Type::MAE;
- }
- else if (type_string == "Chernoff")
- {
- this->similarity_type = aron::similarity::NDArraySimilarity::Type::CHERNOFF;
- this->float_similarity_type = aron::similarity::FloatSimilarity::Type::NONE;
- stats.similarity_type = aron::similarity::NDArraySimilarity::Type::CHERNOFF;
- }
- else if (type_string == "Cosine")
- {
- this->similarity_type = aron::similarity::NDArraySimilarity::Type::COSINE;
- this->float_similarity_type = aron::similarity::FloatSimilarity::Type::NONE;
- stats.similarity_type = aron::similarity::NDArraySimilarity::Type::COSINE;
- }
- else
- {
- ARMARX_WARNING << "Undefined similarity measure detected in JSON file";
- stats.similarity_type = aron::similarity::NDArraySimilarity::Type::NONE;
- this->float_similarity_type = aron::similarity::FloatSimilarity::Type::NONE;
- }
- ARMARX_INFO << VAROUT(this->similarity_type);
- }
- if (json.find(PARAM_MAX_OBJECTS) != json.end())
- {
- max_images = json.at(PARAM_MAX_OBJECTS);
- ARMARX_INFO << VAROUT(max_images);
- stats.number_of_compared_objects = max_images;
- }
-
- stats.start_time = std::chrono::high_resolution_clock::now();
+ ARMARX_DEBUG << "No init for euqality filter needed";
}
SnapshotFilter::FilterStatistics
- SnapshotSimilarityFilter::getFilterStatistics()
+ SnapshotEqualityFilter::getFilterStatistics()
{
- return stats;
+ return this->stats;
}
std::string
- SnapshotSimilarityFilter::getName()
+ SnapshotEqualityFilter::getName()
{
- return this->NAME;
+ return armarx::armem::server::ltm::processor::filter::SnapshotEqualityFilter::NAME;
}
-} // namespace armarx::armem::server::ltm::processor::filter
+} // namespace armarx::armem::server::ltm::processor::filter
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.h b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.h
index e621f7121..64f984680 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.h
@@ -5,7 +5,6 @@
// Base Class
#include "../Filter.h"
-
// Aron
#include <chrono>
@@ -15,15 +14,12 @@
namespace armarx::armem::server::ltm::processor::filter
{
- class SnapshotSimilarityFilter : public SnapshotFilter
+ class SnapshotEqualityFilter : public SnapshotFilter
{
public:
- static const constexpr char* NAME = "SnapshotSimilarityFilter";
- static const constexpr char* PARAM_THRESHOLD = "Threshold";
- static const constexpr char* PARAM_SIM_MEASURE = "SimilarityMeasure";
- static const constexpr char* PARAM_MAX_OBJECTS = "NumberOfObjectsToCompare";
+ static const constexpr char* NAME = "SnapshotEqualityFilter";
- SnapshotSimilarityFilter() = default;
+ SnapshotEqualityFilter() = default;
virtual bool accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion) override;
void configure(const nlohmann::json& json) override;
@@ -32,14 +28,8 @@ namespace armarx::armem::server::ltm::processor::filter
std::string getName() override;
private:
- //std::map<MemoryID, std::vector<aron::data::DictPtr>> dataLastCommit;
- std::deque<std::vector<armarx::aron::data::NDArrayPtr>> images;
- std::deque<std::vector<armarx::aron::data::FloatPtr>> floats;
+ std::map<MemoryID, std::vector<aron::data::DictPtr>> dataLastCommit;
std::map<MemoryID, long> timestampLastCommitInMs;
- std::double_t threshold;
FilterStatistics stats;
- std::size_t max_images = 2;
- aron::similarity::NDArraySimilarity::Type similarity_type;
- aron::similarity::FloatSimilarity::Type float_similarity_type;
};
-} // namespace armarx::armem::server::ltm::processor::filter
+} // namespace armarx::armem::server::ltm::processor::filter
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/similarityFilter/SimilarityFilter.cpp b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/similarityFilter/SimilarityFilter.cpp
new file mode 100644
index 000000000..26876c7c4
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/similarityFilter/SimilarityFilter.cpp
@@ -0,0 +1,229 @@
+#include "SimilarityFilter.h"
+
+#include <list>
+
+#include <IceUtil/Time.h>
+
+#include "RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h"
+#include "RobotAPI/libraries/aron/core/data/variant/primitive/Float.h"
+
+namespace armarx::armem::server::ltm::processor::filter
+{
+ bool
+ SnapshotSimilarityFilter::accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion)
+ {
+ auto start = std::chrono::high_resolution_clock::now();
+
+ int num_instances = 0;
+ std::vector<armarx::aron::data::NDArrayPtr> images_snapshot;
+ std::vector<armarx::aron::data::FloatPtr> floats_snapshot;
+ std::vector<float> distances;
+
+ e.forEachInstance(
+ [&num_instances, &images_snapshot, &floats_snapshot](armem::wm::EntityInstance& i)
+ {
+ auto data = aron::data::Dict::DynamicCastAndCheck(i.data());
+ for (auto key : data->getAllKeys())
+ {
+ aron::data::Descriptor img_desc;
+ try
+ {
+ auto d = data->at(key);
+ ;
+ img_desc = data->at(key)->getDescriptor();
+ }
+ catch (...)
+ {
+ ARMARX_INFO << "Problem with accessing image description";
+ img_desc = aron::data::Descriptor::NDARRAY;
+ }
+ if (img_desc == aron::data::Descriptor::NDARRAY)
+ {
+ auto img_nd = aron::data::NDArray::DynamicCastAndCheck(data->at(key));
+ images_snapshot.insert(images_snapshot.end(), img_nd);
+ num_instances++;
+ }
+ else if (img_desc == aron::data::Descriptor::FLOAT)
+ {
+ auto fl = aron::data::Float::DynamicCastAndCheck(data->at(key));
+ floats_snapshot.push_back(fl);
+ num_instances++;
+ }
+ else
+ {
+ ARMARX_INFO << "data-type not yet supported. \n"
+ << "Only ndarray and float data types are supported for "
+ "equality filters yet.";
+ }
+ }
+ });
+
+ if (images.size() < 2)
+ {
+ ARMARX_INFO << "Adding first images, because nothing to compare";
+ images.push_back(images_snapshot);
+ this->stats.accepted += 1;
+ auto end = std::chrono::high_resolution_clock::now();
+ stats.end_time = end;
+ stats.additional_time += (end - start);
+ return true;
+ }
+ else if (images.size() < max_images)
+ {
+ ARMARX_INFO << "Not enough elements yet to do full comparison of last " << max_images
+ << " elements";
+ images.push_back(images_snapshot);
+ this->stats.accepted += 1;
+ auto end = std::chrono::high_resolution_clock::now();
+ stats.end_time = end;
+ stats.additional_time += (end - start);
+ return true;
+ }
+
+
+ std::vector<armarx::aron::data::NDArrayPtr> lastCommittedImages;
+ int sizeOfCommited = 0;
+ for (int i = 0; i < max_images; i++)
+ {
+ std::vector<armarx::aron::data::NDArrayPtr> lastCommitImages =
+ images.at(images.size() - i - 1);
+ sizeOfCommited = lastCommitImages.size();
+ for (int j = 0; j < lastCommitImages.size(); j++)
+ {
+ lastCommittedImages.push_back(lastCommitImages.at(j));
+ }
+ // we just concatenate all images (instances)
+ }
+
+ ARMARX_CHECK(sizeOfCommited == images_snapshot.size()); //make sure we have enough instances
+
+ for (int i = 0; i < images_snapshot.size(); i++)
+ {
+ armarx::aron::data::NDArrayPtr new_image = images_snapshot.at(i);
+ std::vector<armarx::aron::data::NDArrayPtr> commited_images;
+ for (int j = 0; j < max_images; j++)
+ {
+ int index = i + 2 * j;
+ auto image = lastCommittedImages.at(index);
+ commited_images.emplace_back(image);
+ }
+
+ float distance = aron::similarity::NDArraySimilarity::calculate_similarity_multi(
+ commited_images, new_image, this->similarity_type);
+
+ distances.insert(distances.end(), distance);
+ }
+
+ //check for criterion:
+ float sum_distances = 0;
+ float max_distance = 0;
+ for (auto d : distances)
+ {
+ sum_distances += d;
+ if (d > max_distance)
+ {
+ max_distance = d;
+ }
+ }
+
+ bool max =
+ true; //set true if only maximum distance value is important and false if sum of distances is important
+ bool accept = false;
+
+ if (max)
+ {
+ accept = (max_distance > this->threshold);
+ }
+ else
+ {
+ accept = (sum_distances > this->threshold);
+ }
+
+ if (accept)
+ {
+ images.pop_front(); //delete first element
+ images.push_back(images_snapshot);
+ this->stats.accepted += 1;
+ auto end = std::chrono::high_resolution_clock::now();
+ stats.additional_time += (end - start);
+ stats.end_time = end;
+ return true;
+ }
+ else
+ {
+ this->stats.rejected += 1;
+ auto end = std::chrono::high_resolution_clock::now();
+ stats.additional_time += (end - start);
+ stats.end_time = end;
+ return false;
+ }
+ }
+
+ void
+ SnapshotSimilarityFilter::configure(const nlohmann::json& json)
+ {
+ if (json.find(PARAM_THRESHOLD) != json.end())
+ {
+ threshold = json.at(PARAM_THRESHOLD);
+ ARMARX_INFO << VAROUT(threshold);
+ stats.additional_info += "Threshold-Parameter: ";
+ stats.additional_info += std::to_string(threshold);
+ }
+ if (json.find(PARAM_SIM_MEASURE) != json.end())
+ {
+ std::string type_string = json.at(PARAM_SIM_MEASURE);
+ if (type_string == "MSE")
+ {
+ this->similarity_type = aron::similarity::NDArraySimilarity::Type::MSE;
+ this->float_similarity_type = aron::similarity::FloatSimilarity::Type::MSE;
+ stats.similarity_type = aron::similarity::NDArraySimilarity::Type::MSE;
+ }
+ else if (type_string == "MAE")
+ {
+ this->similarity_type = aron::similarity::NDArraySimilarity::Type::MAE;
+ this->float_similarity_type = aron::similarity::FloatSimilarity::Type::MAE;
+ stats.similarity_type = aron::similarity::NDArraySimilarity::Type::MAE;
+ }
+ else if (type_string == "Chernoff")
+ {
+ this->similarity_type = aron::similarity::NDArraySimilarity::Type::CHERNOFF;
+ this->float_similarity_type = aron::similarity::FloatSimilarity::Type::NONE;
+ stats.similarity_type = aron::similarity::NDArraySimilarity::Type::CHERNOFF;
+ }
+ else if (type_string == "Cosine")
+ {
+ this->similarity_type = aron::similarity::NDArraySimilarity::Type::COSINE;
+ this->float_similarity_type = aron::similarity::FloatSimilarity::Type::NONE;
+ stats.similarity_type = aron::similarity::NDArraySimilarity::Type::COSINE;
+ }
+ else
+ {
+ ARMARX_WARNING << "Undefined similarity measure detected in JSON file";
+ stats.similarity_type = aron::similarity::NDArraySimilarity::Type::NONE;
+ this->float_similarity_type = aron::similarity::FloatSimilarity::Type::NONE;
+ }
+ ARMARX_INFO << VAROUT(this->similarity_type);
+ }
+ if (json.find(PARAM_MAX_OBJECTS) != json.end())
+ {
+ max_images = json.at(PARAM_MAX_OBJECTS);
+ ARMARX_INFO << VAROUT(max_images);
+ stats.number_of_compared_objects = max_images;
+ }
+
+ stats.start_time = std::chrono::high_resolution_clock::now();
+ }
+
+ SnapshotFilter::FilterStatistics
+ SnapshotSimilarityFilter::getFilterStatistics()
+ {
+ return stats;
+ }
+
+ std::string
+ SnapshotSimilarityFilter::getName()
+ {
+ return this->NAME;
+ }
+
+} // namespace armarx::armem::server::ltm::processor::filter
diff --git a/source/RobotAPI/libraries/armem/server/ltm/processors/filter/similarityFilter/SimilarityFilter.h b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/similarityFilter/SimilarityFilter.h
new file mode 100644
index 000000000..e621f7121
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/processors/filter/similarityFilter/SimilarityFilter.h
@@ -0,0 +1,45 @@
+#pragma once
+
+#include <map>
+#include <vector>
+
+// Base Class
+#include "../Filter.h"
+
+// Aron
+#include <chrono>
+
+#include "RobotAPI/libraries/aron/similarity/data/image/FloatSimilarity.h"
+#include "RobotAPI/libraries/aron/similarity/data/image/NDArraySimilarity.h"
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+
+namespace armarx::armem::server::ltm::processor::filter
+{
+ class SnapshotSimilarityFilter : public SnapshotFilter
+ {
+ public:
+ static const constexpr char* NAME = "SnapshotSimilarityFilter";
+ static const constexpr char* PARAM_THRESHOLD = "Threshold";
+ static const constexpr char* PARAM_SIM_MEASURE = "SimilarityMeasure";
+ static const constexpr char* PARAM_MAX_OBJECTS = "NumberOfObjectsToCompare";
+
+ SnapshotSimilarityFilter() = default;
+
+ virtual bool accept(const armem::wm::EntitySnapshot& e, bool simulatedVersion) override;
+ void configure(const nlohmann::json& json) override;
+
+ FilterStatistics getFilterStatistics() override;
+ std::string getName() override;
+
+ private:
+ //std::map<MemoryID, std::vector<aron::data::DictPtr>> dataLastCommit;
+ std::deque<std::vector<armarx::aron::data::NDArrayPtr>> images;
+ std::deque<std::vector<armarx::aron::data::FloatPtr>> floats;
+ std::map<MemoryID, long> timestampLastCommitInMs;
+ std::double_t threshold;
+ FilterStatistics stats;
+ std::size_t max_images = 2;
+ aron::similarity::NDArraySimilarity::Type similarity_type;
+ aron::similarity::FloatSimilarity::Type float_similarity_type;
+ };
+} // namespace armarx::armem::server::ltm::processor::filter
--
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