BlobRecognition Class Reference

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< 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 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< 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

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 LogSenderPtrgetLogSender () 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, 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
 
- 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()

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
objectClassEntityentity containing all information available for the object class
fileManagerGridFileManager 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.

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◆ 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.

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◆ localizeObjectClasses()

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

localizes segmentable object instances

Parameters
objectClassNamesnames of the class to localize
cameraImagesthe two input images
resultImagesthe 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.

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◆ 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

◆ onInitObjectLocalizerProcessor()

void onInitObjectLocalizerProcessor ( )
inlineoverrideprotectedvirtual
See also
ObjectLocalizerProcessor::onInitObjectLocalizerProcessor()

Reimplemented from ObjectLocalizerProcessor.

Definition at line 112 of file BlobRecognition.h.

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◆ 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.

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