ObjectLearningByPushing Class Reference

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< 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
 
- 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 LogSenderPtrgetLogSender () 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, 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
 
- Protected Attributes inherited from PointCloudProcessor
bool automaticConversion
 
FPSCounter fpsCounter
 
float frameRate
 
std::map< std::string, PointCloudProviderInfopointCloudProviderInfoMap
 
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, PointCloudTransferStatsstatistics
 
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

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.

+ Here is the call graph for this function:

◆ 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.

+ Here is the call graph for this function:

◆ 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.

+ Here is the call graph for this function:

◆ 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: