#include <VisionX/components/image_processor/OpenPoseEstimation/Memory/RGBDPoseEstimationWithMemoryWriter/RGBDPoseEstimationWithMemoryWriter.h>

Inheritance diagram for RGBDPoseEstimationWithMemoryWriter:

Public Member Functions
virtual armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	getDefaultName () const override

void	reportEntities () override

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::Client &	getArvizClient ()

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< PropertyUserPtr >	getAdditionalPropertyUsers () 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< T >	getPropertyAsCSV (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

Public Member Functions inherited from PluginUser
MemoryNameSystem &	memoryNameSystem ()

const MemoryNameSystem &	memoryNameSystem () const

Static Public Member Functions
static std::string	GetDefaultName ()
	Get the component's default name. More...

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...

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 LogSenderPtr &	getLogSender () 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 ()

Protected Member Functions inherited from PluginUser
	PluginUser ()

virtual	~PluginUser () override

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)> >>

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, ImageProviderInfo >	imageProviderInfoMap

std::shared_mutex	imageProviderInfoMutex

armarx::PeriodicTask< ImageProcessor >::pointer_type	processorTask

IceInternal::Handle< ResultImageProvider >	resultImageProvider

bool	startProcessorTask = true

std::map< std::string, ImageTransferStats >	statistics

std::mutex	statisticsMutex

ImageProviderMap	usedImageProviders

Detailed Description

Definition at line 36 of file RGBDPoseEstimationWithMemoryWriter.h.

Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 44 of file RGBDPoseEstimationWithMemoryWriter.cpp.

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◆ GetDefaultName()

std::string GetDefaultName ( )

static

Get the component's default name.

Definition at line 67 of file RGBDPoseEstimationWithMemoryWriter.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const

overridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

Definition at line 60 of file RGBDPoseEstimationWithMemoryWriter.cpp.

◆ 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 143 of file RGBDPoseEstimationWithMemoryWriter.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 190 of file RGBDPoseEstimationWithMemoryWriter.cpp.

◆ onExitImageProcessor()

void onExitImageProcessor ( )

overrideprotectedvirtual

Exit the ImapeProcessor component.

Implement this method in order to clean up the ImageProcessor

Implements ImageProcessor.

Definition at line 199 of file RGBDPoseEstimationWithMemoryWriter.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

argc	number of filtered command line arguments
argv	filtered command line arguments

Implements ImageProcessor.

Definition at line 133 of file RGBDPoseEstimationWithMemoryWriter.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 203 of file RGBDPoseEstimationWithMemoryWriter.cpp.

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◆ reportEntities()

void reportEntities ( )

overridevirtual

Reimplemented from OpenPoseEstimationComponentPluginUser.

Definition at line 74 of file RGBDPoseEstimationWithMemoryWriter.cpp.

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

VisionX/components/image_processor/OpenPoseEstimation/Memory/RGBDPoseEstimationWithMemoryWriter/RGBDPoseEstimationWithMemoryWriter.h
VisionX/components/image_processor/OpenPoseEstimation/Memory/RGBDPoseEstimationWithMemoryWriter/RGBDPoseEstimationWithMemoryWriter.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPropertyDefinitions()

◆ GetDefaultName()

◆ getDefaultName()

◆ onConnectImageProcessor()

◆ onDisconnectImageProcessor()

◆ onExitImageProcessor()

◆ onInitImageProcessor()

◆ process()

◆ reportEntities()