BlobRecognition uses CSegmentableRecognition from IVT to recognize and localize single-colored objects based on their color and shape. More...

#include <VisionX/components/object_perception/BlobRecognition/BlobRecognition.h>

Inheritance diagram for BlobRecognition:

Public Member Functions
	BlobRecognition ()

armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	getDefaultName () const override

void	reportStereoCalibrationChanged (const StereoCalibration &stereoCalibration, bool x, const std::string &referenceName, const Ice::Current &c=Ice::emptyCurrent) override

	~BlobRecognition () override

Public Member Functions inherited from ObjectLocalizerProcessor
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

memoryx::ObjectLocalizationResultList	localizeObjectClasses (const memoryx::ObjectClassNameList &objectClassNames, const Ice::Current &c=Ice::emptyCurrent) override
	The process method is inherited from the ObjectLocalizationProcessorInterface and is called by the WorkingMemoryUpdater. More...

	ObjectLocalizerProcessor ()

void	onConnectImageProcessor () override
	Called from framework. More...

void	onDisconnectComponent () override
	Called from framework. More...

void	onExitImageProcessor () override
	Called from framework. More...

void	onInitImageProcessor () override
	Called from framework. More...

void	process () override
	The process method is inherited from ImageProcessor. More...

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 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 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

Protected Member Functions
bool	addObjectClass (const memoryx::EntityPtr &objectClassEntity, const memoryx::GridFileManagerPtr &fileManager) override
	Add object class to segmentable object recognition. More...

bool	initRecognizer () override
	Initializes segmentable recognition. More...

memoryx::ObjectLocalizationResultList	localizeObjectClasses (const std::vector< std::string > &objectClassNames, CByteImage cameraImages, armarx::MetaInfoSizeBasePtr imageMetaInfo, CByteImage resultImages) override
	localizes segmentable object instances More...

void	onConnectObjectLocalizerProcessor () override
	Initializes the CSegmentableRecognition. More...

void	onExitObjectLocalizerProcessor () override

void	onInitObjectLocalizerProcessor () override

Protected Member Functions inherited from ObjectLocalizerProcessor
memoryx::MultivariateNormalDistributionPtr	calculateLocalizationUncertainty (const Eigen::Vector3f &position)
	Calculate localization uncertainty for a 3d point. More...

memoryx::MultivariateNormalDistributionPtr	calculateLocalizationUncertainty (Vec2d left_point, Vec2d right_point)
	Calculate 3D uncertainty from two 2d points in left and right camera. More...

Eigen::Vector3i	getColorMask () const

ImageFormatInfo	getImageFormat () const
	Retrieve format of input images. More...

bool	getImagesAreUndistorted () const
	Retrieve whether images are undistorted. More...

std::string	getReferenceFrameName () const
	Retrieve whether result images are enabled. More...

bool	getResultImagesEnabled () const
	Retrieve whether result images are enabled. More...

CStereoCalibration *	getStereoCalibration () const
	Retrieve stereo calibration corresponding to image provider. More...

bool	isResultImageMaskEnabled () const

virtual void	onDisconnectObjectLocalizerProcessor ()
	ObjectLocalizerProcessor interface: subclass hook. More...

void	reportStereoCalibrationChanged (const StereoCalibration &stereoCalibration, bool imagesAreUndistorted, const std::string &referenceFrame, const Ice::Current &c=Ice::emptyCurrent) override

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

virtual void	onDisconnectImageProcessor ()
	Implement this method in the ImageProcessor in order execute parts when the component looses network connectivity. More...

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 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

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

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...

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 ImageProcessor
static std::string	ListenerSuffix = ".ImageListener"

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 Types inherited from ImageProcessor
using	ImageProviderMap = std::map< std::string, armarx::IceSharedMemoryConsumer< unsigned char >::pointer_type >

Protected Attributes inherited from ObjectLocalizerProcessor
CByteImage *	cameraImages [2]

CByteImage	cameraImagesData [2]

armarx::MetaInfoSizeBasePtr	imageMetaInfo

std::string	imageProviderName

int	numberOfResultImages

std::string	priorKnowledgeProxyName

std::string	referenceFrameName

CByteImage **	resultImages

boost::ptr_vector< boost::nullable< CByteImage > >	resultImagesData

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

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

BlobRecognition uses CSegmentableRecognition from IVT to recognize and localize single-colored objects based on their color and shape.

The object data is read from PriorKnowledge and CommonStorage via MemoryX. The object localization is invoked automatically by the working memory if the object has been requested there.

Definition at line 78 of file BlobRecognition.h.

Constructor & Destructor Documentation

◆ BlobRecognition()

BlobRecognition ( )

Definition at line 53 of file BlobRecognition.cpp.

◆ ~BlobRecognition()

~BlobRecognition ( )

override

Definition at line 57 of file BlobRecognition.cpp.

Member Function Documentation

◆ addObjectClass()

bool addObjectClass	(	const memoryx::EntityPtr &	objectClassEntity,
		const memoryx::GridFileManagerPtr &	fileManager
	)

overrideprotectedvirtual

Add object class to segmentable object recognition.

Parameters

objectClassEntity	entity containing all information available for the object class
fileManager	GridFileManager required to read files associated to prior knowledge from the database.

Returns: success of adding this entity to the TexturedObjectDatabase

Implements ObjectLocalizerProcessor.

Definition at line 119 of file BlobRecognition.cpp.

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 85 of file BlobRecognition.h.

Here is the call graph for this function:

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: Component::getDefaultName()

Implements ManagedIceObject.

Definition at line 100 of file BlobRecognition.h.

◆ initRecognizer()

bool initRecognizer ( )

overrideprotectedvirtual

Initializes segmentable recognition.

Returns: success

Implements ObjectLocalizerProcessor.

Definition at line 67 of file BlobRecognition.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ localizeObjectClasses()

memoryx::ObjectLocalizationResultList localizeObjectClasses	(	const std::vector< std::string > &	objectClassNames,
		CByteImage **	cameraImages,
		armarx::MetaInfoSizeBasePtr	imageMetaInfo,
		CByteImage **	resultImages
	)

overrideprotectedvirtual

localizes segmentable object instances

Parameters

objectClassNames	names of the class to localize
cameraImages	the two input images
resultImages	the two result images. are provided if result images are enabled.

Returns: list of object instances

Implements ObjectLocalizerProcessor.

Definition at line 148 of file BlobRecognition.cpp.

Here is the call graph for this function:

◆ onConnectObjectLocalizerProcessor()

void onConnectObjectLocalizerProcessor ( )

inlineoverrideprotectedvirtual

Initializes the CSegmentableRecognition.

See also: ObjectLocalizerProcessor::onConnectObjectLocalizerProcessor()

Reimplemented from ObjectLocalizerProcessor.

Definition at line 124 of file BlobRecognition.h.

◆ onExitObjectLocalizerProcessor()

void onExitObjectLocalizerProcessor ( )

overrideprotectedvirtual

See also: ObjectLocalizerProcessor::onExitObjectLocalizerProcessor()

Reimplemented from ObjectLocalizerProcessor.

Definition at line 62 of file BlobRecognition.cpp.

◆ onInitObjectLocalizerProcessor()

void onInitObjectLocalizerProcessor ( )

inlineoverrideprotectedvirtual

See also: ObjectLocalizerProcessor::onInitObjectLocalizerProcessor()

Reimplemented from ObjectLocalizerProcessor.

Definition at line 112 of file BlobRecognition.h.

Here is the call graph for this function:

◆ reportStereoCalibrationChanged()

void reportStereoCalibrationChanged	(	const StereoCalibration &	stereoCalibration,
		bool	x,
		const std::string &	referenceName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

inlineoverride

Definition at line 90 of file BlobRecognition.h.

Here is the call graph for this function:

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

VisionX/components/object_perception/BlobRecognition/BlobRecognition.h
VisionX/components/object_perception/BlobRecognition/BlobRecognition.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BlobRecognition()

◆ ~BlobRecognition()

Member Function Documentation

◆ addObjectClass()

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ initRecognizer()

◆ localizeObjectClasses()

◆ onConnectObjectLocalizerProcessor()

◆ onExitObjectLocalizerProcessor()

◆ onInitObjectLocalizerProcessor()

◆ reportStereoCalibrationChanged()