RGBDOpenPoseEstimationComponentPluginUser Class Reference

#include <VisionX/libraries/OpenPose/RGBDOpenPoseEstimation/RGBDOpenPoseEstimationComponent.h>

+ Inheritance diagram for RGBDOpenPoseEstimationComponentPluginUser:

Public Types

using Base = OpenPoseEstimationComponentPluginUser
 
- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 

Public Member Functions

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...
 
virtual std::string getDefaultName () const =0
 Retrieve default name of component. 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 Attributes

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
 

Additional Inherited Members

- 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 Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr NullPtr
 A nullptr to be used when a const ref to a nullptr is required. 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 onConnectComponent ()=0
 Pure virtual hook for the subclass. More...
 
virtual void onDisconnectComponent ()
 Hook for subclass. More...
 
virtual void onExitComponent ()
 Hook for subclass. More...
 
virtual void onInitComponent ()=0
 Pure virtual hook for the subclass. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnConnectComponent ()
 
virtual void preOnDisconnectComponent ()
 
virtual void preOnExitComponent ()
 
virtual void preOnInitComponent ()
 
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 Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

Definition at line 36 of file RGBDOpenPoseEstimationComponent.h.

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ RGBDOpenPoseEstimationComponentPluginUser()

Member Function Documentation

◆ enableHumanPoseEstimation()

void enableHumanPoseEstimation ( const EnableHumanPoseEstimationInput &  input,
const Ice::Current &   
)
override

Definition at line 322 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

◆ postCreatePropertyDefinitions()

void postCreatePropertyDefinitions ( armarx::PropertyDefinitionsPtr def)
overridevirtual

Reimplemented from OpenPoseEstimationComponentPluginUser.

Definition at line 36 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

◆ postOnConnectImageProcessor()

void postOnConnectImageProcessor ( )
overridevirtual

Reimplemented from OpenPoseEstimationComponentPluginUser.

Definition at line 53 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

◆ postOnDisconnectImageProcessor()

void postOnDisconnectImageProcessor ( )
overridevirtual

Reimplemented from OpenPoseEstimationComponentPluginUser.

Definition at line 100 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

◆ preOnConnectImageProcessor()

void preOnConnectImageProcessor ( )
overridevirtual

Reimplemented from OpenPoseEstimationComponentPluginUser.

Definition at line 95 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

◆ preOnDisconnectImageProcessor()

void preOnDisconnectImageProcessor ( )
overridevirtual

Reimplemented from OpenPoseEstimationComponentPluginUser.

Definition at line 82 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

◆ preOnInitImageProcessor()

void preOnInitImageProcessor ( )
overridevirtual

Reimplemented from OpenPoseEstimationComponentPluginUser.

Definition at line 90 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

◆ renderOutputImage()

void renderOutputImage ( const op::Array< float > &  op_array)
overridevirtual

Reimplemented from OpenPoseEstimationComponentPluginUser.

Definition at line 109 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

◆ reportEntities()

void reportEntities ( )
overridevirtual

Reimplemented from OpenPoseEstimationComponentPluginUser.

Definition at line 187 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

◆ start3DPoseEstimation()

void start3DPoseEstimation ( const Ice::Current &  = Ice::emptyCurrent)
override

Definition at line 299 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the caller graph for this function:

◆ stop()

void stop ( const Ice::Current &  c = Ice::emptyCurrent)
override

Definition at line 293 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

◆ stop3DPoseEstimation()

void stop3DPoseEstimation ( const Ice::Current &  = Ice::emptyCurrent)
override

Definition at line 312 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ visualize()

void visualize ( )
overridevirtual

Reimplemented from OpenPoseEstimationComponentPluginUser.

Definition at line 428 of file RGBDOpenPoseEstimationComponent.cpp.

+ Here is the call graph for this function:

Member Data Documentation

◆ brightnessIncrease

int brightnessIncrease = 100

Definition at line 88 of file RGBDOpenPoseEstimationComponent.h.

◆ calibration

const CCalibration* calibration = nullptr

Definition at line 79 of file RGBDOpenPoseEstimationComponent.h.

◆ cameraNodeName

std::string cameraNodeName = "AzureKinectCamera"

Definition at line 80 of file RGBDOpenPoseEstimationComponent.h.

◆ depthImageBuffer

CByteImage* depthImageBuffer

Definition at line 86 of file RGBDOpenPoseEstimationComponent.h.

◆ depthImageBufferMutex

std::mutex depthImageBufferMutex

Definition at line 87 of file RGBDOpenPoseEstimationComponent.h.

◆ listener3DPrx

OpenPose3DListenerPrx listener3DPrx

Definition at line 94 of file RGBDOpenPoseEstimationComponent.h.

◆ localRobot

Definition at line 101 of file RGBDOpenPoseEstimationComponent.h.

◆ maskedrgbImageBuffer

CByteImage* maskedrgbImageBuffer

Definition at line 84 of file RGBDOpenPoseEstimationComponent.h.

◆ maxDepth

unsigned int maxDepth = 3000

Definition at line 75 of file RGBDOpenPoseEstimationComponent.h.

◆ maxDepthDifference

unsigned int maxDepthDifference = 700

Definition at line 76 of file RGBDOpenPoseEstimationComponent.h.

◆ openposeResult3D

HumanPose3DMap openposeResult3D

Definition at line 97 of file RGBDOpenPoseEstimationComponent.h.

◆ radius

unsigned int radius = 10

Definition at line 74 of file RGBDOpenPoseEstimationComponent.h.

◆ reportOnlyNearestPerson

bool reportOnlyNearestPerson = false

Definition at line 91 of file RGBDOpenPoseEstimationComponent.h.

◆ robotStateInterface

Definition at line 100 of file RGBDOpenPoseEstimationComponent.h.

◆ running3D

std::atomic_bool running3D

Definition at line 104 of file RGBDOpenPoseEstimationComponent.h.

◆ useDistortionParameters

bool useDistortionParameters = false

Definition at line 81 of file RGBDOpenPoseEstimationComponent.h.


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