The ImageProcessor class provides an interface for access to ImageProviders via Ice and shared memory. More...

#include <VisionX/core/ImageProcessor.h>

Inheritance diagram for ImageProcessor:

Public Member Functions
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...

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 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

Static Public Attributes
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
using	ImageProviderMap = std::map< std::string, armarx::IceSharedMemoryConsumer< unsigned char >::pointer_type >

Protected Member Functions
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

virtual void	onConnectImageProcessor ()=0
	Implement this method in the ImageProcessor in order execute parts when the component is fully initialized and about to run. More...

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

virtual void	onExitImageProcessor ()=0
	Exit the ImapeProcessor component. More...

void	onInitComponent () override

virtual void	onInitImageProcessor ()=0
	Setup the vision component. More...

virtual void	process ()=0
	Process the vision component. More...

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

Protected Attributes
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

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)

Detailed Description

The ImageProcessor class provides an interface for access to ImageProviders via Ice and shared memory.

The interface defines a set of convenience methods which simplify the image access. ImageProcessor implements the ImageProcessorBase Ice interface for new image announcement and the armarx::ImageProvider providing visualizations.

Definition at line 87 of file ImageProcessor.h.

Member Typedef Documentation

◆ ImageProviderMap

using ImageProviderMap = std::map<std::string, armarx::IceSharedMemoryConsumer<unsigned char>::pointer_type>

protected

Definition at line 400 of file ImageProcessor.h.

Member Function Documentation

◆ cleanup()

void cleanup ( )

protected

clean up memory

Definition at line 728 of file ImageProcessor.cpp.

◆ componentPropertiesUpdated()

void componentPropertiesUpdated ( const std::set< std::string > & changedProperties )

overrideprotectedvirtual

Implement this function if you would like to react to changes in the properties.

Parameters

changedProperties Set of changed properties. Retrieve the values with getProperty()

Reimplemented from Component.

Definition at line 743 of file ImageProcessor.cpp.

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 97 of file ImageProcessor.cpp.

◆ enableResultImages()

void enableResultImages	(	int	numberImages,
		ImageDimension	imageDimension,
		ImageType	imageType,
		const std::string &	name = `""`
	)

protected

Enables visualization.

Parameters

numberImages	number of images provided by the visualization
imageDimension	size of images
imageType	type of images
name	The topic name to use (if empty getName() + "Result" is used)

Returns: Information of the image provider

Definition at line 227 of file ImageProcessor.cpp.

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◆ getCompressionQuality()

int getCompressionQuality ( ) const

protected

Definition at line 758 of file ImageProcessor.cpp.

◆ getCompressionType()

CompressionType getCompressionType ( ) const

protected

Definition at line 763 of file ImageProcessor.cpp.

◆ getFramerate()

float getFramerate ( ) const

protected

Definition at line 691 of file ImageProcessor.cpp.

◆ getHardwareId()

std::string getHardwareId ( const Ice::Current & c = Ice::emptyCurrent )

protected

Returns machines hardware Id string.

◆ getImageListenerTopicName()

std::string getImageListenerTopicName ( std::string providerName ) const

Definition at line 112 of file ImageProcessor.cpp.

◆ getImageMetaInfo()

MetaInfoSizeBasePtr getImageMetaInfo ( const std::string & imageProviderName = "" ) const

protected

Get meta information from the image provider.

Parameters

imageProviderName Name of image provider. If empty, returns first entry in ImageProvider map.

Returns: Null if no ImageProvider used or name could not be found.

Definition at line 653 of file ImageProcessor.cpp.

◆ getImageProvider() [1/2]

ImageProviderInfo getImageProvider	(	std::string	name,
		bool	waitForProxy,
		ImageType	destinationImageType = `eRgb`
	)

protected

Definition at line 222 of file ImageProcessor.cpp.

◆ getImageProvider() [2/2]

ImageProviderInfo getImageProvider	(	std::string	name,
		ImageType	destinationImageType = `eRgb`,
		bool	waitForProxy = `false`
	)

protected

Select an ImageProvider.

This method subscribes to an an ImageProvider and makes the provider available in the waitForImages() and getImages() methods.

Parameters

name	Ice adapter name of the ImageProvider
destinationImageType	Image's type after image transmission

Returns: Information of the image provider

Definition at line 152 of file ImageProcessor.cpp.

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◆ getImages() [1/7]

int getImages ( CByteImage ** ppImages )

protected

Poll images from provider.

Polls images from a used ImageProvider either via shared memory or via Ice. If both components run on the same machine, shared memory transfer is used. Otherwise Ice is used for image transmission. The transfer type is decided in the useImageProvider method and is set in the corresponding ImageFormatInfo.

Use this method if only one ImageProvider is used.

Parameters

ppImages Image buffers where the images are copied to. The buffers have to be initialized by the component. All required information for the allocation of the buffers can be found in the corresponding ImageFormatInfo.

Returns: Number of images copied. Zero if no new images have been available.

Definition at line 351 of file ImageProcessor.cpp.

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◆ getImages() [2/7]

int getImages ( CFloatImage ** ppImages )

protected

See also: ImageProcessorBase::getImages(CByteImage*)

Definition at line 380 of file ImageProcessor.cpp.

◆ getImages() [3/7]

int getImages	(	std::string	providerName,
		CByteImage **	ppImages,
		armarx::MetaInfoSizeBasePtr &	info
	)

protected

Poll images from provider.

Polls images from a used ImageProvider either via shared memory or via Ice. If both components run on the same machine, shared memory transfer is used. Otherwise Ice is used for image transmission. The transfer type is decided in the useImageProvider method and is set in the corresponding ImageFormatInfo.

Use this method if multiple ImageProviders are used.

Parameters

providerName	Name of provider to poll from
ppImages	Image buffers where the images are copied to. The buffers have to be initialized by the component. All required information for the allocation of the buffers can be found in the corresponding ImageFormatInfo.

Returns: Number of images copied. Zero if no new images have been available.

Definition at line 427 of file ImageProcessor.cpp.

◆ getImages() [4/7]

int getImages	(	std::string	providerName,
		CFloatImage **	ppImages,
		armarx::MetaInfoSizeBasePtr &	info
	)

protected

See also: ImageProcessorBase::getImages(std::string, CByteImage**)

Definition at line 461 of file ImageProcessor.cpp.

◆ getImages() [5/7]

int getImages	(	std::string	providerName,
		const std::vector< CByteImageUPtr > &	ppImages,
		armarx::MetaInfoSizeBasePtr &	info
	)

protected

◆ getImages() [6/7]

int getImages	(	std::string	providerName,
		void **	ppBuffer,
		armarx::MetaInfoSizeBasePtr &	info
	)

protected

See also: ImageProcessorBase::getImages(std::string, CByteImage**)

Definition at line 478 of file ImageProcessor.cpp.

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◆ getImages() [7/7]

int getImages ( void ** ppBuffer )

protected

See also: ImageProcessorBase::getImages(CByteImage**)

Definition at line 397 of file ImageProcessor.cpp.

◆ getImageTransferStats()

ImageTransferStats getImageTransferStats	(	std::string	provideNname,
		bool	resetStats = `false`
	)

protected

Retrieve statistics for a connection to an ImageProvider.

Parameters

provideNname	Name of the provider
resetStats	Reset statistics

Returns: Reference to statistics for the connection to the provder

Definition at line 625 of file ImageProcessor.cpp.

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◆ getNumberOfImages()

int getNumberOfImages ( const std::string & providerName = "" )

protected

Returns the number of images provided by the specified image provider If no provider is specified, the first provider is taken.

Parameters

providerName Requested image provider

Definition at line 577 of file ImageProcessor.cpp.

◆ isNewImageAvailable() [1/2]

bool isNewImageAvailable ( )

protected

Definition at line 331 of file ImageProcessor.cpp.

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◆ isNewImageAvailable() [2/2]

bool isNewImageAvailable ( const std::string & providerName )

protected

Definition at line 336 of file ImageProcessor.cpp.

◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: Component::onConnectComponent()

Implements ManagedIceObject.

Definition at line 72 of file ImageProcessor.cpp.

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◆ onConnectImageProcessor()

virtual void onConnectImageProcessor ( )

protectedpure virtual

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

Implemented in PointCloudAndImageProcessor, OpenPoseEstimation, CoFusionProcessor, CropRobotFromImage, ImageMonitorWidgetController, ObjectLocalizerProcessor, RTABMapRegistration, CalibrationCreator2, ImageToPointCloud, FeatureLearningWidgetController, OpticalFlow, ImageSourceSelection, VisualContactDetection, StereoImagePointCloudProvider, HsvColorSegmentationWidgetController, KinectAndCameraCalibration, Component, LookAtClickWidgetController, TrackingError, BlurrinessMetric, CalibrationCreator, OpenCVImageStabilizer, RobotHandLocalizationWithFingertips, ImageMaskPainterWidgetController, StreamProviderI, MultiImageProvider, SimpleEpisodicMemoryImageConnector, ArMarkerLocalizer, ArMarkerLocalizerOpenCV, ImageToArMem, RGBDPoseEstimationWithMemoryWriter, LegacyRGBOpenPoseEstimation, LegacyRGBDOpenPoseEstimation, and RGBDOpenPoseEstimation.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

See also: Component::onDisconnectComponent()

Reimplemented from ManagedIceObject.

Definition at line 83 of file ImageProcessor.cpp.

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◆ onDisconnectImageProcessor()

virtual void onDisconnectImageProcessor ( )

inlineprotectedvirtual

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

Reimplemented in OpenPoseEstimation, CoFusionProcessor, CropRobotFromImage, FeatureLearningWidgetController, CalibrationCreator2, HsvColorSegmentationWidgetController, Component, SimpleEpisodicMemoryImageConnector, ArMarkerLocalizer, ArMarkerLocalizerOpenCV, ImageToArMem, RGBDPoseEstimationWithMemoryWriter, LegacyRGBOpenPoseEstimation, LegacyRGBDOpenPoseEstimation, and RGBDOpenPoseEstimation.

Definition at line 296 of file ImageProcessor.h.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also: Component::onExitComponent()

Reimplemented from ManagedIceObject.

Definition at line 89 of file ImageProcessor.cpp.

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◆ onExitImageProcessor()

virtual void onExitImageProcessor ( )

protectedpure virtual

Exit the ImapeProcessor component.

Implement this method in order to clean up the ImageProcessor

Implemented in PointCloudAndImageProcessor, OpenPoseEstimation, ObjectLocalizerProcessor, CoFusionProcessor, CropRobotFromImage, FeatureLearningWidgetController, ImageMonitorWidgetController, CalibrationCreator2, RTABMapRegistration, ImageToPointCloud, ImageSourceSelection, OpticalFlow, VisualContactDetection, Component, StereoImagePointCloudProvider, HsvColorSegmentationWidgetController, KinectAndCameraCalibration, TrackingError, BlurrinessMetric, CalibrationCreator, OpenCVImageStabilizer, RobotHandLocalizationWithFingertips, MultiImageProvider, StreamProviderI, ImageMaskPainterWidgetController, SimpleEpisodicMemoryImageConnector, ArMarkerLocalizer, ArMarkerLocalizerOpenCV, ImageToArMem, RGBDPoseEstimationWithMemoryWriter, LegacyRGBOpenPoseEstimation, LegacyRGBDOpenPoseEstimation, RGBDOpenPoseEstimation, and LookAtClickWidgetController.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: Component::onInitComponent()

Implements ManagedIceObject.

Definition at line 52 of file ImageProcessor.cpp.

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◆ onInitImageProcessor()

virtual void onInitImageProcessor ( )

protectedpure virtual

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

Implemented in PointCloudAndImageProcessor, OpenPoseEstimation, CoFusionProcessor, CropRobotFromImage, ImageMonitorWidgetController, RTABMapRegistration, CalibrationCreator2, ImageToPointCloud, OpticalFlow, VisualContactDetection, FeatureLearningWidgetController, ObjectLocalizerProcessor, ImageSourceSelection, StereoImagePointCloudProvider, HsvColorSegmentationWidgetController, KinectAndCameraCalibration, Component, TrackingError, LookAtClickWidgetController, BlurrinessMetric, CalibrationCreator, OpenCVImageStabilizer, RobotHandLocalizationWithFingertips, ImageMaskPainterWidgetController, StreamProviderI, SimpleEpisodicMemoryImageConnector, ArMarkerLocalizer, ArMarkerLocalizerOpenCV, MultiImageProvider, ImageToArMem, RGBDPoseEstimationWithMemoryWriter, LegacyRGBOpenPoseEstimation, LegacyRGBDOpenPoseEstimation, and RGBDOpenPoseEstimation.

◆ process()

virtual void process ( )

protectedpure virtual

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

Implemented in ObjectLearningByPushing, OpenPoseEstimation, ObjectLocalizerProcessor, CoFusionProcessor, FeatureLearningWidgetController, ImageMonitorWidgetController, CalibrationCreator2, CropRobotFromImage, ImageSourceSelection, PointCloudAndImageProcessor, RTABMapRegistration, ImageToPointCloud, OpticalFlow, VisualContactDetection, RGBDHandLocalizer, Component, StereoImagePointCloudProvider, HsvColorSegmentationWidgetController, KinectAndCameraCalibration, ValveAttention, TrackingError, BlurrinessMetric, MaskFilterPointCloudProcessor, CalibrationCreator, OpenCVImageStabilizer, MultiImageProvider, RobotHandLocalizationWithFingertips, StreamProviderI, ImageMaskPainterWidgetController, ArMarkerLocalizer, SimpleEpisodicMemoryImageConnector, ArMarkerLocalizerOpenCV, Component, ImageToArMem, RGBDPoseEstimationWithMemoryWriter, LegacyRGBOpenPoseEstimation, LegacyRGBDOpenPoseEstimation, RGBDOpenPoseEstimation, MaskFilterPointCloudProcessor, and LookAtClickWidgetController.

◆ provideResultImages() [1/2]

void provideResultImages	(	CByteImage **	images,
		armarx::MetaInfoSizeBasePtr	info = `nullptr`
	)

protected

sends result images for visualization

See also: enableVisualization

Parameters

images array of images to send

Definition at line 245 of file ImageProcessor.cpp.

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◆ provideResultImages() [2/2]

void provideResultImages	(	const std::vector< CByteImageUPtr > &	images,
		armarx::MetaInfoSizeBasePtr	info = `nullptr`
	)

protected

◆ releaseImageProvider()

void releaseImageProvider ( std::string providerName )

protected

Definition at line 137 of file ImageProcessor.cpp.

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◆ reportImageAvailable()

void reportImageAvailable	(	const std::string &	providerName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

overrideprotected

Listener callback function.

This is called by the used image providers to report the availability of a newly captured image.

Parameters

providerName The reporting image provider name

Definition at line 703 of file ImageProcessor.cpp.

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◆ runProcessor()

void runProcessor ( )

protectedvirtual

See also: PeriodicTask

Definition at line 103 of file ImageProcessor.cpp.

◆ setCompressionType()

void setCompressionType	(	CompressionType	compressionType = `ePNG`,
		int	compressionQuality = `9`
	)

protected

Sets the compression type and compression quality.

Quality needs to fit to compressionType: PNG: 0-9 (9: best compression, but slowest), JPEG: 0-100 (100: best quality) *

Definition at line 696 of file ImageProcessor.cpp.

◆ setFramerate()

void setFramerate ( float fps )

protected

Definition at line 682 of file ImageProcessor.cpp.

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◆ usingImageProvider()

void usingImageProvider ( std::string name )

protected

Registers a delayed topic subscription and a delayed provider proxy retrieval which all will be available on the start of the component.

Parameters

name	Provider name

Definition at line 117 of file ImageProcessor.cpp.

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◆ waitForImages() [1/3]

bool waitForImages ( int milliseconds = 1000 )

protected

Wait for new images.

Wait for new image of an image provider. Use if only one ImageProvider is used (see useImageProvider).

Parameters

milliseconds Timeout for waiting

Returns: True if new images are available. False in case of error or timeout

Definition at line 275 of file ImageProcessor.cpp.

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◆ waitForImages() [2/3]

bool waitForImages	(	std::string	providerName,
		IceUtil::Time	waitTime
	)

protected

Definition at line 326 of file ImageProcessor.cpp.

◆ waitForImages() [3/3]

bool waitForImages	(	std::string	providerName,
		int	milliseconds = `1000`
	)

protected

Wait for new images.

Wait for new image of an image provider. Use if multiple ImageProviders are used (see useImageProvider).

Parameters

providerName	Name of provider to wait for images
milliseconds	Timeout for waiting

Returns: True if new images are available. False in case of error or timeout

Definition at line 298 of file ImageProcessor.cpp.

Member Data Documentation

◆ compressionQuality

int compressionQuality = 9

protected

Definition at line 421 of file ImageProcessor.h.

◆ compressionType

CompressionType compressionType = eNoCompression

protected

Definition at line 420 of file ImageProcessor.h.

◆ desiredFps

float desiredFps = 0

protected

Definition at line 415 of file ImageProcessor.h.

◆ imageProviderInfoMap

std::map<std::string, ImageProviderInfo> imageProviderInfoMap

protected

Definition at line 403 of file ImageProcessor.h.

◆ imageProviderInfoMutex

std::shared_mutex imageProviderInfoMutex

protected

Definition at line 404 of file ImageProcessor.h.

◆ ListenerSuffix

std::string ListenerSuffix = ".ImageListener"

static

Definition at line 92 of file ImageProcessor.h.

◆ processorTask

armarx::PeriodicTask<ImageProcessor>::pointer_type processorTask

protected

Definition at line 413 of file ImageProcessor.h.

◆ resultImageProvider

IceInternal::Handle<ResultImageProvider> resultImageProvider

protected

Definition at line 407 of file ImageProcessor.h.

◆ startProcessorTask

bool startProcessorTask = true

protected

Definition at line 416 of file ImageProcessor.h.

◆ statistics

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

protected

Definition at line 411 of file ImageProcessor.h.

◆ statisticsMutex

std::mutex statisticsMutex

protected

Definition at line 410 of file ImageProcessor.h.

◆ usedImageProviders

ImageProviderMap usedImageProviders

protected

Definition at line 401 of file ImageProcessor.h.

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

VisionX/core/ImageProcessor.h
VisionX/core/ImageProcessor.cpp

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ImageProviderMap

Member Function Documentation

◆ cleanup()

◆ componentPropertiesUpdated()

◆ createPropertyDefinitions()

◆ enableResultImages()

◆ getCompressionQuality()

◆ getCompressionType()

◆ getFramerate()

◆ getHardwareId()

◆ getImageListenerTopicName()

◆ getImageMetaInfo()

◆ getImageProvider() [1/2]

◆ getImageProvider() [2/2]

◆ getImages() [1/7]

◆ getImages() [2/7]

◆ getImages() [3/7]

◆ getImages() [4/7]

◆ getImages() [5/7]

◆ getImages() [6/7]

◆ getImages() [7/7]

◆ getImageTransferStats()

◆ getNumberOfImages()

◆ isNewImageAvailable() [1/2]

◆ isNewImageAvailable() [2/2]

◆ onConnectComponent()

◆ onConnectImageProcessor()

◆ onDisconnectComponent()

◆ onDisconnectImageProcessor()

◆ onExitComponent()

◆ onExitImageProcessor()

◆ onInitComponent()

◆ onInitImageProcessor()

◆ process()

◆ provideResultImages() [1/2]

◆ provideResultImages() [2/2]

◆ releaseImageProvider()

◆ reportImageAvailable()

◆ runProcessor()

◆ setCompressionType()

◆ setFramerate()

◆ usingImageProvider()

◆ waitForImages() [1/3]

◆ waitForImages() [2/3]

◆ waitForImages() [3/3]

Member Data Documentation

◆ compressionQuality

◆ compressionType

◆ desiredFps

◆ imageProviderInfoMap

◆ imageProviderInfoMutex

◆ ListenerSuffix

◆ processorTask

◆ resultImageProvider

◆ startProcessorTask

◆ statistics

◆ statisticsMutex

◆ usedImageProviders