ObjectLearningByPushing is the vision part of the approach for interactive object segmentation. More...

#include <VisionX/components/image_processor/ObjectLearningByPushing/ObjectLearningByPushing.h>

Inheritance diagram for ObjectLearningByPushing:

Public Types
enum	OLPControlMode { eNoHypotheses = 0, eCreatingInitialHypotheses = 1, eHasInitialHypotheses = 2, eValidatingInitialHypotheses = 3, eHasConfirmedHypotheses = 4, eRevalidatingConfirmedHypotheses = 5, eQuit = 42 }

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

Public Member Functions
void	CreateInitialObjectHypotheses (const ::Ice::Current &c=Ice::emptyCurrent) override
	Creates the initial object hypotheses. More...

std::string	getDefaultName () const override

armarx::PoseBasePtr	getLastObjectTransformation (const ::Ice::Current &c=Ice::emptyCurrent) override
	Returns the last transformation that the preferred object hypothesis underwent. More...

visionx::types::PointList	getObjectHypothesisPoints (const ::Ice::Current &c=Ice::emptyCurrent) override
	Returns the confirmed points constituting the object hypothesis. More...

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

visionx::types::PointList	getScenePoints (const ::Ice::Current &c=Ice::emptyCurrent) override

armarx::Vector3BasePtr	getUpwardsVector (const ::Ice::Current &c=Ice::emptyCurrent) override

void	recognizeObject (const std::string &objectName, const ::Ice::Current &c=Ice::emptyCurrent) override
	Returns the last transformation that the preferred object hypothesis underwent. More...

void	RevalidateConfirmedObjectHypotheses (const ::Ice::Current &c=Ice::emptyCurrent) override
	Re-validates the confirmed object hypotheses after the second and later pushes. More...

void	ValidateInitialObjectHypotheses (const ::Ice::Current &c=Ice::emptyCurrent) override
	Validates the initial object hypotheses after the first push. 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

Public Member Functions inherited from PointCloudProcessor
template<typename PointT >
void	enableResultPointCloudForInputProvider (const std::string &inputProviderName, const std::string &resultProviderName="")

void	enableResultPointClouds (std::string resultProviderName, size_t shmCapacity, PointContentType pointContentType)

template<typename PointT >
void	enableResultPointClouds (std::string resultProviderName="")
	Enables visualization. More...

MetaPointCloudFormatPtr	getPointCloudFormat (std::string providerName)

std::string	getPointCloudFrame (const std::string &providerName, const std::string &defaultFrame="")
	Get the reference frame of the point cloud by given provider. More...

PointCloudProviderInfo	getPointCloudProvider (bool waitForProxy=false)

PointCloudProviderInfo	getPointCloudProvider (std::string name, bool waitForProxy=false)
	Select an PointCloudProvider. More...

std::vector< std::string >	getPointCloudProviderNames () const
	Get the names of providers for which `usingPointCloudProvider()` has been called. More...

template<typename PointCloudPtrT >
int	getPointClouds (const PointCloudPtrT &pointCloudPtr)
	Poll PointClouds from provider. More...

template<typename PointCloudPtrT >
bool	getPointClouds (std::string providerName, const PointCloudPtrT &pointClouds)
	Poll PointClouds from provider. More...

PointCloudTransferStats	getPointCloudTransferStats (std::string providerName, bool resetStats=false)
	Retrieve statistics for a connection to an PointCloudProvider. More...

bool	isPointCloudProviderKnown (const std::string &providerName) const
	Indicate whether the given name identifies a known point cloud provider. More...

bool	pointCloudHasNewData (std::string providerName)
	Returns current status for the given point cloud. More...

template<typename PointCloudPtrT >
void	provideResultPointClouds (const PointCloudPtrT &pointClouds, std::string providerName="")
	sends result PointClouds for visualization More...

template<typename PointCloudPtrT >
void	provideResultPointClouds (const std::string &providerName, const PointCloudPtrT &pointClouds)

void	releasePointCloudProvider (std::string providerName)
	Removes topic subscription and provider proxy dependency to release a point cloud provider. More...

void	usingPointCloudProvider (std::string providerName)
	Registers a delayed topic subscription and a delayed provider proxy retrieval which will be available on the start of the component. More...

void	usingPointCloudProviderFromProperty (const std::string &prop)

bool	waitForPointClouds (const std::string &providerName, int milliseconds=1000)
	Wait for new PointClouds. More...

bool	waitForPointClouds (int milliseconds=1000)
	Wait for new PointClouds. More...

Protected Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

void	onConnectPointCloudAndImageProcessor () override
	Implement this method in your PointCloudAndImageProcessor in order execute parts when the component is fully initialized and about to run. More...

void	onExitPointCloudAndImageProcessor () override
	Exit the ImapeProcessor component. More...

void	onInitPointCloudAndImageProcessor () override
	Setup the vision component. More...

void	process () override
	Process the vision component. More...

Protected Member Functions inherited from PointCloudAndImageProcessor
template<typename PointT >
void	enableResultImagesAndPointClouds (std::string resultProviderName, int numberImages, ImageDimension imageDimension, ImageType imageType)

void	onConnectComponent () override

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

void	onConnectPointCloudProcessor () override
	Implement this method in the PointCloudProcessor in order execute parts when the component is fully initialized and about to run. More...

void	onDisconnectComponent () override

virtual void	onDisconnectPointCloudAndImageProcessor ()
	Implement this method in the PointCloudAndImageProcessor in order to execute parts when the component looses network connectivity. More...

void	onDisconnectPointCloudProcessor () override
	Implement this method in the PointCloudProcessor in order execute parts when the component looses network connectivity. More...

void	onExitComponent () override

void	onExitImageProcessor () override
	Exit the ImapeProcessor component. More...

void	onExitPointCloudProcessor () override
	Exit the ImapeProcessor component. More...

void	onInitComponent () override

void	onInitImageProcessor () override
	Setup the vision component. More...

void	onInitPointCloudProcessor () override
	Setup the vision component. More...

void	process () override
	Process the vision component. More...

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

Protected Member Functions inherited from PointCloudProcessor
void	reportPointCloudAvailable (const std::string &providerName, const Ice::Current &c=Ice::emptyCurrent) override
	Listener callback function. More...

virtual void	runProcessor ()

Additional Inherited Members
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 Types inherited from PointCloudProcessor
using	PointCloudProviderMap = std::map< std::string, armarx::IceSharedMemoryConsumer< unsigned char, MetaPointCloudFormat >::pointer_type >

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

Protected Attributes inherited from PointCloudProcessor
bool	automaticConversion

FPSCounter	fpsCounter

float	frameRate

std::map< std::string, PointCloudProviderInfo >	pointCloudProviderInfoMap

std::shared_mutex	pointCloudProviderInfoMutex

armarx::RunningTask< PointCloudProcessor >::pointer_type	processorTask

std::map< std::string, IceInternal::Handle< ResultPointCloudProvider > >	resultPointCloudProviders

std::shared_mutex	resultProviderMutex

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

std::mutex	statisticsMutex

PointCloudProviderMap	usedPointCloudProviders

Detailed Description

ObjectLearningByPushing is the vision part of the approach for interactive object segmentation.

It is used by the statechart defined in (how do I reference that here?). Initially, object hypotheses are created based on the stereocamera images. One of these hypotheses is then pushed. The resulting motion is used to segment the one or more objects that moved from the rest of the scene. The segmented objects are represented in the form of RGBD point clouds. (can I cite a publication or link to a website here?)

Component properties:

VisionX.RobotHandLocalizationWithFingertips.ImageProviderAdapterName: Name of the image provider that delivers the camera images.
VisionX.RobotHandLocalizationWithFingertips.RobotStateProxyName: Name of the robot state proxy used to obtain the current robot state.
VisionX.RobotHandLocalizationWithFingertips.CameraFrameName: Name of the robot model frame of the primary camera

Definition at line 111 of file ObjectLearningByPushing.h.

Member Enumeration Documentation

◆ OLPControlMode

enum OLPControlMode

Enumerator
eNoHypotheses
eCreatingInitialHypotheses
eHasInitialHypotheses
eValidatingInitialHypotheses
eHasConfirmedHypotheses
eRevalidatingConfirmedHypotheses
eQuit

Definition at line 168 of file ObjectLearningByPushing.h.

Member Function Documentation

◆ CreateInitialObjectHypotheses()

void CreateInitialObjectHypotheses ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Creates the initial object hypotheses.

Definition at line 76 of file ObjectLearningByPushing.cpp.

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 191 of file ObjectLearningByPushing.h.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: Component::getDefaultName()

Implements ManagedIceObject.

Definition at line 120 of file ObjectLearningByPushing.h.

◆ getLastObjectTransformation()

PoseBasePtr getLastObjectTransformation ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Returns the last transformation that the preferred object hypothesis underwent.

Definition at line 159 of file ObjectLearningByPushing.cpp.

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◆ getObjectHypothesisPoints()

types::PointList getObjectHypothesisPoints ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Returns the confirmed points constituting the object hypothesis.

If several confirmed objects are available, the one containing the biggest number of confirmed points is returned.

Definition at line 100 of file ObjectLearningByPushing.cpp.

◆ getReferenceFrameName()

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

override

Definition at line 151 of file ObjectLearningByPushing.cpp.

◆ getScenePoints()

types::PointList getScenePoints ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 122 of file ObjectLearningByPushing.cpp.

◆ getUpwardsVector()

Vector3BasePtr getUpwardsVector ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 143 of file ObjectLearningByPushing.cpp.

◆ onConnectPointCloudAndImageProcessor()

void onConnectPointCloudAndImageProcessor ( )

overrideprotectedvirtual

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

Implements PointCloudAndImageProcessor.

Definition at line 221 of file ObjectLearningByPushing.cpp.

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◆ onExitPointCloudAndImageProcessor()

void onExitPointCloudAndImageProcessor ( )

overrideprotectedvirtual

Exit the ImapeProcessor component.

Implement this method in order to clean up the PointCloudAndImageProcessor

Implements PointCloudAndImageProcessor.

Definition at line 370 of file ObjectLearningByPushing.cpp.

◆ onInitPointCloudAndImageProcessor()

void onInitPointCloudAndImageProcessor ( )

overrideprotectedvirtual

Setup the vision component.

Implement this method in your PointCloudAndImageProcessor in order to setup its parameters. Use this for the registration of adapters and subscription to topics

Implements PointCloudAndImageProcessor.

Definition at line 191 of file ObjectLearningByPushing.cpp.

◆ process()

void process ( )

overrideprotectedvirtual

Process the vision component.

The main loop of the PointCloudProcessor to be implemented in the subclass. Do not block this method. One process should execute exactly one PointCloud processing step.

Implements PointCloudProcessor.

Definition at line 449 of file ObjectLearningByPushing.cpp.

◆ recognizeObject()

void recognizeObject	(	const std::string &	objectName,
		const ::Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Returns the last transformation that the preferred object hypothesis underwent.

Definition at line 177 of file ObjectLearningByPushing.cpp.

◆ RevalidateConfirmedObjectHypotheses()

void RevalidateConfirmedObjectHypotheses ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Re-validates the confirmed object hypotheses after the second and later pushes.

Definition at line 92 of file ObjectLearningByPushing.cpp.

◆ ValidateInitialObjectHypotheses()

void ValidateInitialObjectHypotheses ( const ::Ice::Current & c = Ice::emptyCurrent )

override

Validates the initial object hypotheses after the first push.

Definition at line 84 of file ObjectLearningByPushing.cpp.

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

VisionX/components/image_processor/ObjectLearningByPushing/ObjectLearningByPushing.h
VisionX/components/image_processor/ObjectLearningByPushing/ObjectLearningByPushing.cpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ OLPControlMode

Member Function Documentation

◆ CreateInitialObjectHypotheses()

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ getLastObjectTransformation()

◆ getObjectHypothesisPoints()

◆ getReferenceFrameName()

◆ getScenePoints()

◆ getUpwardsVector()

◆ onConnectPointCloudAndImageProcessor()

◆ onExitPointCloudAndImageProcessor()

◆ onInitPointCloudAndImageProcessor()

◆ process()

◆ recognizeObject()

◆ RevalidateConfirmedObjectHypotheses()

◆ ValidateInitialObjectHypotheses()