LegacyRGBDOpenPoseEstimation Class Reference

#include <VisionX/components/image_processor/OpenPoseEstimation/Legacy/RGBD/LegacyRGBDOpenPoseEstimation.h>

+ Inheritance diagram for LegacyRGBDOpenPoseEstimation:

Public Member Functions

virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions () override
 
std::string getDefaultName () const override
 Retrieve default name of component. More...
 
- Public Member Functions inherited from RGBDOpenPoseEstimationComponentPluginUser
void enableHumanPoseEstimation (const EnableHumanPoseEstimationInput &input, const Ice::Current &) override
 
void postCreatePropertyDefinitions (PropertyDefinitionsPtr &properties) override
 
void postOnConnectImageProcessor () override
 
void postOnDisconnectImageProcessor () override
 
void preOnConnectImageProcessor () override
 
void preOnDisconnectImageProcessor () override
 
void preOnInitImageProcessor () override
 
void renderOutputImage (const op::Array< float > &) override
 
void reportEntities () override
 
 RGBDOpenPoseEstimationComponentPluginUser ()
 
void start3DPoseEstimation (const Ice::Current &=Ice::emptyCurrent) override
 
void stop (const Ice::Current &=Ice::emptyCurrent) override
 
void stop3DPoseEstimation (const Ice::Current &=Ice::emptyCurrent) override
 
void visualize () override
 
- Public Member Functions inherited from OpenPoseEstimationComponentPluginUser
void enableHumanPoseEstimation (const EnableHumanPoseEstimationInput &input, const Ice::Current &=Ice::emptyCurrent) override
 
 OpenPoseEstimationComponentPluginUser ()
 
void start (const Ice::Current &=Ice::emptyCurrent) override
 
void start3DPoseEstimation (const Ice::Current &=Ice::emptyCurrent) override
 
void stop (const Ice::Current &=Ice::emptyCurrent) override
 
void stop3DPoseEstimation (const Ice::Current &=Ice::emptyCurrent) override
 
- Public Member Functions inherited from ArVizComponentPluginUser
 ArVizComponentPluginUser ()
 
armarx::viz::Client createArVizClient ()
 
armarx::viz::ClientgetArvizClient ()
 
- Public Member Functions inherited from ManagedIceObject
void enableProfiler (bool enable)
 setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...
 
std::string generateSubObjectName (const std::string &subObjectName)
 Generates a unique name for a sub object from a general name. More...
 
ArmarXManagerPtr getArmarXManager () const
 Returns the ArmarX manager used to add and remove components. More...
 
ManagedIceObjectConnectivity getConnectivity () const
 Retrieve connectivity of the object (topcis as well as proxies) More...
 
IceManagerPtr getIceManager () const
 Returns the IceManager. More...
 
VariantBasePtr getMetaInfo (const std::string &id)
 
StringVariantBaseMap getMetaInfoMap () const
 
std::string getName () const
 Retrieve name of object. More...
 
Ice::ObjectAdapterPtr getObjectAdapter () const
 Returns object's Ice adapter. More...
 
ArmarXObjectSchedulerPtr getObjectScheduler () const
 
PeriodicTaskPtr getPeriodicTask (const std::string &name)
 
Profiler::ProfilerPtr getProfiler () const
 getProfiler returns an instance of armarx::Profiler More...
 
template<class ProxyTarg , class... Args>
void getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyType >
ProxyType getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Retrieves a proxy object. More...
 
template<class ProxyTarg , class... Args>
void getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
 Assigns a proxy to proxy. More...
 
Ice::ObjectPrx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 Returns the proxy of this object (optionally it waits for the proxy) More...
 
template<class Prx >
Prx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 
template<class ProxyType >
void getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Overload to allow using string literals as name (solve ambiguous overload). More...
 
template<class Prx >
void getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
 
int getState () const
 Retrieve current state of the ManagedIceObject. More...
 
template<class TopicProxyType >
TopicProxyType getTopic (const std::string &name)
 Returns a proxy of the specified topic. More...
 
template<class TopicProxyType >
void getTopic (TopicProxyType &topicProxy, const std::string &name)
 Assigns a proxy of the specified topic to topicProxy. More...
 
std::vector< std::string > getUnresolvedDependencies () const
 returns the names of all unresolved dependencies More...
 
 ManagedIceObject (ManagedIceObject const &other)
 
void offeringTopic (const std::string &name)
 Registers a topic for retrival after initialization. More...
 
void preambleGetTopic (std::string const &name)
 
void setMetaInfo (const std::string &id, const VariantBasePtr &value)
 Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...
 
void startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
 
bool stopPeriodicTask (const std::string &name)
 
bool unsubscribeFromTopic (const std::string &name)
 Unsubscribe from a topic. More...
 
bool usingProxy (const std::string &name, const std::string &endpoints="")
 Registers a proxy for retrieval after initialization and adds it to the dependency list. More...
 
void usingTopic (const std::string &name, bool orderedPublishing=false)
 Registers a proxy for subscription after initialization. More...
 
void waitForObjectScheduler ()
 Waits until the ObjectScheduler could resolve all dependencies. More...
 
void waitForProxy (std::string const &name, bool addToDependencies)
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds. More...
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 
- Public Member Functions inherited from ImageProcessor
std::string getImageListenerTopicName (std::string providerName) const
 
- Public Member Functions inherited from Component
void forceComponentCreatedByComponentCreateFunc ()
 forces the flag to be set to true that the object instance was created by the Component::create function More...
 
std::vector< PropertyUserPtrgetAdditionalPropertyUsers () const
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class ProxyType >
ProxyType getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Get a proxy whose name is specified by the given property. More...
 
template<class ProxyType >
void getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 
template<class TopicProxyType >
TopicProxyType getTopicFromProperty (const std::string &propertyName)
 Get a topic proxy whose name is specified by the given property. More...
 
template<class TopicProxyType >
void getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
 
void initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
 initializes the properties of this component. More...
 
void injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
 
void offeringTopicFromProperty (const std::string &propertyName)
 Offer a topic whose name is specified by the given property. More...
 
virtual void preOnConnectComponent () override
 
virtual void preOnInitComponent () override
 
bool usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
 Use a proxy whose name is specified by the given property. More...
 
void usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
 Use a topic whose name is specified by the given property. More...
 
- Public Member Functions inherited from PropertyUser
std::vector< std::string > getComponentProxyNames ()
 
Ice::PropertiesPtr getIceProperties () const
 Returns the set of Ice properties. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 Property creation and retrieval. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 Hack to allow using getProperty in const-modified methods. More...
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class T >
std::vector< TgetPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
template<class ContainerT >
void getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
PropertyDefinitionsPtr getPropertyDefinitions ()
 Returns the component's property definition container. More...
 
std::vector< std::string > getSubscribedTopicNames ()
 
std::vector< std::string > getTopicProxyNames ()
 
bool hasProperty (const std::string &name)
 
 PropertyUser ()
 
virtual void setIceProperties (Ice::PropertiesPtr properties)
 Sets the Ice properties. More...
 
bool tryAddProperty (const std::string &propertyName, const std::string &value)
 
virtual void updateIceProperties (const std::map< std::string, std::string > &changes)
 
void updateProperties ()
 
void updateProxies (IceManagerPtr)
 
 ~PropertyUser () override
 

Protected Member Functions

virtual void onConnectImageProcessor () override
 Implement this method in the ImageProcessor in order execute parts when the component is fully initialized and about to run. More...
 
virtual void onDisconnectImageProcessor () override
 Implement this method in the ImageProcessor in order execute parts when the component looses network connectivity. More...
 
virtual void onExitImageProcessor () override
 Exit the ImapeProcessor component. More...
 
virtual void onInitImageProcessor () override
 Setup the vision component. More...
 
virtual void process () override
 Process the vision component. More...
 
- Protected Member Functions inherited from OpenPoseEstimationComponentPluginUser
void loop ()
 
- Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT * addPlugin (const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)
 
Ice::CommunicatorPtr getCommunicator () const
 
std::unique_ptr< ManagedIceObjectPlugin > & getPluginPointer (std::type_info const &type, std::string const &prefix)
 
 ManagedIceObject ()
 Protected default constructor. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnDisconnectComponent ()
 
virtual void preOnExitComponent ()
 
bool removeProxyDependency (const std::string &name)
 This function removes the dependency of this object on the in parameter name specified object. More...
 
void setName (std::string name)
 Override name of well-known object. More...
 
void terminate ()
 Initiates termination of this IceManagedObject. More...
 
 ~ManagedIceObject () override
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 
- Protected Member Functions inherited from ImageProcessor
void cleanup ()
 clean up memory More...
 
void componentPropertiesUpdated (const std::set< std::string > &changedProperties) override
 Implement this function if you would like to react to changes in the properties. More...
 
armarx::PropertyDefinitionsPtr createPropertyDefinitions () override
 
void enableResultImages (int numberImages, ImageDimension imageDimension, ImageType imageType, const std::string &name="")
 Enables visualization. More...
 
int getCompressionQuality () const
 
CompressionType getCompressionType () const
 
float getFramerate () const
 
std::string getHardwareId (const Ice::Current &c=Ice::emptyCurrent)
 Returns machines hardware Id string. More...
 
armarx::MetaInfoSizeBasePtr getImageMetaInfo (const std::string &imageProviderName="") const
 Get meta information from the image provider. More...
 
ImageProviderInfo getImageProvider (std::string name, bool waitForProxy, ImageType destinationImageType=eRgb)
 
ImageProviderInfo getImageProvider (std::string name, ImageType destinationImageType=eRgb, bool waitForProxy=false)
 Select an ImageProvider. More...
 
int getImages (CByteImage **ppImages)
 Poll images from provider. More...
 
int getImages (CFloatImage **ppImages)
 
int getImages (std::string providerName, CByteImage **ppImages, armarx::MetaInfoSizeBasePtr &info)
 Poll images from provider. More...
 
int getImages (std::string providerName, CFloatImage **ppImages, armarx::MetaInfoSizeBasePtr &info)
 
int getImages (std::string providerName, const std::vector< CByteImageUPtr > &ppImages, armarx::MetaInfoSizeBasePtr &info)
 
int getImages (std::string providerName, void **ppBuffer, armarx::MetaInfoSizeBasePtr &info)
 
int getImages (void **ppBuffer)
 
ImageTransferStats getImageTransferStats (std::string provideNname, bool resetStats=false)
 Retrieve statistics for a connection to an ImageProvider. More...
 
int getNumberOfImages (const std::string &providerName="")
 Returns the number of images provided by the specified image provider If no provider is specified, the first provider is taken. More...
 
bool isNewImageAvailable ()
 
bool isNewImageAvailable (const std::string &providerName)
 
void onConnectComponent () override
 
void onDisconnectComponent () override
 
void onExitComponent () override
 
void onInitComponent () override
 
void provideResultImages (CByteImage **images, armarx::MetaInfoSizeBasePtr info=nullptr)
 sends result images for visualization More...
 
void provideResultImages (const std::vector< CByteImageUPtr > &images, armarx::MetaInfoSizeBasePtr info=nullptr)
 
void releaseImageProvider (std::string providerName)
 
void reportImageAvailable (const std::string &providerName, const Ice::Current &c=Ice::emptyCurrent) override
 Listener callback function. More...
 
virtual void runProcessor ()
 
void setCompressionType (CompressionType compressionType=ePNG, int compressionQuality=9)
 Sets the compression type and compression quality. More...
 
void setFramerate (float fps)
 
void usingImageProvider (std::string name)
 Registers a delayed topic subscription and a delayed provider proxy retrieval which all will be available on the start of the component. More...
 
bool waitForImages (int milliseconds=1000)
 Wait for new images. More...
 
bool waitForImages (std::string providerName, IceUtil::Time waitTime)
 
bool waitForImages (std::string providerName, int milliseconds=1000)
 Wait for new images. More...
 
- Protected Member Functions inherited from Component
void addPropertyUser (const PropertyUserPtr &subPropertyUser)
 Add additional property users here that should show up in the application help text. More...
 
 Component ()
 Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...
 
std::string getConfigDomain ()
 Retrieve config domain for this component as set in constructor. More...
 
std::string getConfigIdentifier ()
 Retrieve config identifier for this component as set in constructor. More...
 
std::string getConfigName ()
 Retrieve config name for this component as set in constructor. More...
 
virtual void icePropertiesInitialized ()
 

Additional Inherited Members

- Public Types inherited from RGBDOpenPoseEstimationComponentPluginUser
using Base = OpenPoseEstimationComponentPluginUser
 
- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 
- Static Public Member Functions inherited from ManagedIceObject
static std::string generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
 Generates a unique name for a sub object from a general name and unique name. More...
 
static std::string GetObjectStateAsString (int state)
 
- Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
 Factory method for a component. More...
 
- Public Attributes inherited from RGBDOpenPoseEstimationComponentPluginUser
int brightnessIncrease = 100
 
const CCalibration * calibration = nullptr
 
std::string cameraNodeName = "AzureKinectCamera"
 
CByteImage * depthImageBuffer
 
std::mutex depthImageBufferMutex
 
OpenPose3DListenerPrx listener3DPrx
 
VirtualRobot::RobotPtr localRobot
 
CByteImage * maskedrgbImageBuffer
 
unsigned int maxDepth = 3000
 
unsigned int maxDepthDifference = 700
 
HumanPose3DMap openposeResult3D
 
unsigned int radius = 10
 
bool reportOnlyNearestPerson = false
 
armarx::RobotStateComponentInterfacePrx robotStateInterface
 
std::atomic_bool running3D
 
bool useDistortionParameters = false
 
- Public Attributes inherited from OpenPoseEstimationComponentPluginUser
bool active_upon_startup = false
 
CByteImage ** imageBuffer
 
std::mutex imageBufferMutex
 
armarx::MetaInfoSizeBasePtr imageMetaInfo
 
visionx::ImageProviderInfo imageProviderInfo
 
std::string layerName = "OpenPoseEstimation"
 
OpenPose2DListenerPrx listener2DPrx
 
unsigned int numImages
 
float op_render_threshold = 0.05f
 
OpenPoseAdapter::OpenPoseSettings op_settings
 
std::mutex openpose_initializing_mutex
 
bool openpose_is_initialized = false
 
MonocularOpenPoseEstimationPtr openposePtr = nullptr
 
HumanPose2DMap openposeResult
 
CByteImage ** openposeResultImage
 
std::mutex openposeResultImageMutex
 
armarx::RunningTask< OpenPoseEstimationComponentPluginUser >::pointer_type openposeTask
 
std::uint64_t readErrorCounter2d {0}
 
std::atomic_bool result_image_ready = false
 
CByteImage * rgbImageBuffer
 
std::mutex rgbImageBufferMutex
 
visionx::ImageFormatInfo rgbImageFormat
 
std::atomic_bool running2D = false
 
std::uint64_t sucessCounter2d {0}
 
std::uint64_t timeoutCounter2d {0}
 
std::atomic_long timestamp_of_update
 
std::atomic_bool update_ready
 
- Public Attributes inherited from ArVizComponentPluginUser
armarx::viz::Client arviz
 
- Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr NullPtr
 A nullptr to be used when a const ref to a nullptr is required. More...
 
- Static Public Attributes inherited from ImageProcessor
static std::string ListenerSuffix = ".ImageListener"
 
- Protected Types inherited from ImageProcessor
using ImageProviderMap = std::map< std::string, armarx::IceSharedMemoryConsumer< unsigned char >::pointer_type >
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 
- Protected Attributes inherited from ImageProcessor
int compressionQuality = 9
 
CompressionType compressionType = eNoCompression
 
float desiredFps = 0
 
std::map< std::string, ImageProviderInfoimageProviderInfoMap
 
std::shared_mutex imageProviderInfoMutex
 
armarx::PeriodicTask< ImageProcessor >::pointer_type processorTask
 
IceInternal::Handle< ResultImageProviderresultImageProvider
 
bool startProcessorTask = true
 
std::map< std::string, ImageTransferStatsstatistics
 
std::mutex statisticsMutex
 
ImageProviderMap usedImageProviders
 

Detailed Description

Definition at line 32 of file LegacyRGBDOpenPoseEstimation.h.

Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )
overridevirtual
See also
PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 32 of file LegacyRGBDOpenPoseEstimation.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const
inlineoverridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns
default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Definition at line 37 of file LegacyRGBDOpenPoseEstimation.h.

◆ onConnectImageProcessor()

void onConnectImageProcessor ( )
overrideprotectedvirtual

Implement this method in the ImageProcessor in order execute parts when the component is fully initialized and about to run.

Implements ImageProcessor.

Definition at line 52 of file LegacyRGBDOpenPoseEstimation.cpp.

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◆ onDisconnectImageProcessor()

void onDisconnectImageProcessor ( )
overrideprotectedvirtual

Implement this method in the ImageProcessor in order execute parts when the component looses network connectivity.

Reimplemented from ImageProcessor.

Definition at line 81 of file LegacyRGBDOpenPoseEstimation.cpp.

◆ onExitImageProcessor()

void onExitImageProcessor ( )
overrideprotectedvirtual

Exit the ImapeProcessor component.

Implement this method in order to clean up the ImageProcessor

Implements ImageProcessor.

Definition at line 90 of file LegacyRGBDOpenPoseEstimation.cpp.

◆ onInitImageProcessor()

void onInitImageProcessor ( )
overrideprotectedvirtual

Setup the vision component.

Implement this method in the ImageProcessor in order to setup its parameters. Use this for the registration of adaptars and subscription to topics

Parameters
argcnumber of filtered command line arguments
argvfiltered command line arguments

Implements ImageProcessor.

Definition at line 42 of file LegacyRGBDOpenPoseEstimation.cpp.

◆ process()

void process ( )
overrideprotectedvirtual

Process the vision component.

The main loop of the imageprocessor to be implemented in the subclass. Do not block this method. One process should execute exactly one image processing step. The rate at which this function is called can be set with setFramerate(). If no framerate is set, the process will run as fast as possible.

See also
setFramerate

Implements ImageProcessor.

Definition at line 94 of file LegacyRGBDOpenPoseEstimation.cpp.

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The documentation for this class was generated from the following files: