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

Inheritance diagram for ObjectLocalizerProcessor:

Public Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

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

	ObjectLocalizerProcessor ()

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

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

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

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

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

Public Member Functions inherited from ImageProcessor
std::string	getImageListenerTopicName (std::string providerName) const

Public Member Functions inherited from Component
void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

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

Protected Member Functions
virtual bool	addObjectClass (const memoryx::EntityPtr &objectClassEntity, const memoryx::GridFileManagerPtr &fileManager)=0
	ObjectLocalizerProcessor interface: The addObjectClass method needs to be implemented by any ObjectLocalizer. More...

memoryx::MultivariateNormalDistributionPtr	calculateLocalizationUncertainty (const Eigen::Vector3f &position)
	Calculate localization uncertainty for a 3d point. More...

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

Eigen::Vector3i	getColorMask () const

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

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

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

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

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

virtual bool	initRecognizer ()=0
	ObjectLocalizerProcessor interface: The initRecognizer method needs to be implemented by any ObjectLocalizer. More...

bool	isResultImageMaskEnabled () const

virtual memoryx::ObjectLocalizationResultList	localizeObjectClasses (const std::vector< std::string > &objectClassNames, CByteImage cameraImages, armarx::MetaInfoSizeBasePtr imageMetaInfo, CByteImage resultImages)=0
	ObjectLocalizerProcessor interface: The localizeObjectClass method needs to be implemented by any ObjectLocalizer. More...

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

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

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

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

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

Protected Member Functions inherited from ImageProcessor
void	cleanup ()
	clean up memory More...

void	componentPropertiesUpdated (const std::set< std::string > &changedProperties) override
	Implement this function if you would like to react to changes in the properties. More...

armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

void	enableResultImages (int numberImages, ImageDimension imageDimension, ImageType imageType, const std::string &name="")
	Enables visualization. More...

int	getCompressionQuality () const

CompressionType	getCompressionType () const

float	getFramerate () const

std::string	getHardwareId (const Ice::Current &c=Ice::emptyCurrent)
	Returns machines hardware Id string. More...

armarx::MetaInfoSizeBasePtr	getImageMetaInfo (const std::string &imageProviderName="") const
	Get meta information from the image provider. More...

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

ImageProviderInfo	getImageProvider (std::string name, ImageType destinationImageType=eRgb, bool waitForProxy=false)
	Select an ImageProvider. More...

int	getImages (CByteImage **ppImages)
	Poll images from provider. More...

int	getImages (CFloatImage **ppImages)

int	getImages (std::string providerName, CByteImage **ppImages, armarx::MetaInfoSizeBasePtr &info)
	Poll images from provider. More...

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

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

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

int	getImages (void **ppBuffer)

ImageTransferStats	getImageTransferStats (std::string provideNname, bool resetStats=false)
	Retrieve statistics for a connection to an ImageProvider. More...

int	getNumberOfImages (const std::string &providerName="")
	Returns the number of images provided by the specified image provider If no provider is specified, the first provider is taken. More...

bool	isNewImageAvailable ()

bool	isNewImageAvailable (const std::string &providerName)

void	onConnectComponent () override

void	onDisconnectComponent () override

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

void	onExitComponent () override

void	onInitComponent () override

void	provideResultImages (CByteImage **images, armarx::MetaInfoSizeBasePtr info=nullptr)
	sends result images for visualization More...

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

void	releaseImageProvider (std::string providerName)

void	reportImageAvailable (const std::string &providerName, const Ice::Current &c=Ice::emptyCurrent) override
	Listener callback function. More...

virtual void	runProcessor ()

void	setCompressionType (CompressionType compressionType=ePNG, int compressionQuality=9)
	Sets the compression type and compression quality. More...

void	setFramerate (float fps)

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

bool	waitForImages (int milliseconds=1000)
	Wait for new images. More...

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

bool	waitForImages (std::string providerName, int milliseconds=1000)
	Wait for new images. More...

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
CByteImage *	cameraImages [2]

CByteImage	cameraImagesData [2]

armarx::MetaInfoSizeBasePtr	imageMetaInfo

std::string	imageProviderName

int	numberOfResultImages

std::string	priorKnowledgeProxyName

std::string	referenceFrameName

CByteImage **	resultImages

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

Protected Attributes inherited from ImageProcessor
int	compressionQuality = 9

CompressionType	compressionType = eNoCompression

float	desiredFps = 0

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

std::shared_mutex	imageProviderInfoMutex

armarx::PeriodicTask< ImageProcessor >::pointer_type	processorTask

IceInternal::Handle< ResultImageProvider >	resultImageProvider

bool	startProcessorTask = true

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

std::mutex	statisticsMutex

ImageProviderMap	usedImageProviders

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Friends
class	ObjectLocalizerProcessorJob

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

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ImageProcessor
static std::string	ListenerSuffix = ".ImageListener"

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

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

Detailed Description

ObjectLocalizerProcessor.

Definition at line 107 of file ObjectLocalizerProcessor.h.

Constructor & Destructor Documentation

◆ ObjectLocalizerProcessor()

ObjectLocalizerProcessor ( )

Definition at line 51 of file ObjectLocalizerProcessor.cpp.

Member Function Documentation

◆ addObjectClass()

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

protectedpure virtual

ObjectLocalizerProcessor interface: The addObjectClass method needs to be implemented by any ObjectLocalizer.

Add object class to localizer. Called by the ObjectLocalizerProcessor for each object class in prior knowledge, that has the RecognitionMethod attribute corresponding to the default name of this component (see Component::getDefaultName())

Parameters

objectClassEntity	entity containing all information available for the object class
fileManager	GridFileManager required to read files associated to prior knowledgge from the database. Usually accessed via an AbstractEntityWrapper.

Returns: success of adding this entity to the recognition method

Implemented in SegmentableTemplateRecognition, SegmentableObjectRecognition, BlobRecognition, TexturedObjectRecognition, BigBowlLocalization, ColorMarkerObjectLocalizer, FaceRecognition, and HandMarkerLocalization.

◆ calculateLocalizationUncertainty() [1/2]

memoryx::MultivariateNormalDistributionPtr calculateLocalizationUncertainty ( const Eigen::Vector3f & position )

protected

Calculate localization uncertainty for a 3d point.

First projects the point to the camera images and then applies calculateLocalizationUncertainty(Vec2d left_point, Vec2d right_point). The reference frame is always the left camera.

Parameters

position 3d position of the point

Returns: 3D localization uncertainty

Definition at line 255 of file ObjectLocalizerProcessor.cpp.

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◆ calculateLocalizationUncertainty() [2/2]

memoryx::MultivariateNormalDistributionPtr calculateLocalizationUncertainty	(	Vec2d	left_point,
		Vec2d	right_point
	)

protected

Calculate 3D uncertainty from two 2d points in left and right camera.

Uses the property "2DLocalizationNoise" for estimating the 3D noise. Uses unscented transform through epipolar geometry to derive an approximation The reference frame is always the left camera.

Parameters

left_point	point in left camera image
right_point	point in right camera image

Returns: 3D localization uncertainty

Definition at line 201 of file ObjectLocalizerProcessor.cpp.

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◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Reimplemented in SegmentableTemplateRecognition, SegmentableObjectRecognition, and TexturedObjectRecognition.

Definition at line 119 of file ObjectLocalizerProcessor.h.

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◆ getColorMask()

Eigen::Vector3i getColorMask ( ) const

inlineprotected

Definition at line 324 of file ObjectLocalizerProcessor.h.

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◆ getImageFormat()

ImageFormatInfo getImageFormat ( ) const

inlineprotected

Retrieve format of input images.

Returns: iamge format

Definition at line 304 of file ObjectLocalizerProcessor.h.

◆ getImagesAreUndistorted()

bool getImagesAreUndistorted ( ) const

inlineprotected

Retrieve whether images are undistorted.

Returns: whether images are undistorted

Definition at line 314 of file ObjectLocalizerProcessor.h.

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◆ getReferenceFrameName()

std::string getReferenceFrameName ( ) const

inlineprotected

Retrieve whether result images are enabled.

Returns: result images enables

Definition at line 294 of file ObjectLocalizerProcessor.h.

◆ getResultImagesEnabled()

bool getResultImagesEnabled ( ) const

inlineprotected

Retrieve whether result images are enabled.

Returns: result images enables

Definition at line 284 of file ObjectLocalizerProcessor.h.

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◆ getStereoCalibration()

CStereoCalibration* getStereoCalibration ( ) const

inlineprotected

Retrieve stereo calibration corresponding to image provider.

Returns: stereo calibration

Definition at line 334 of file ObjectLocalizerProcessor.h.

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◆ initRecognizer()

virtual bool initRecognizer ( )

protectedpure virtual

ObjectLocalizerProcessor interface: The initRecognizer method needs to be implemented by any ObjectLocalizer.

the method is called in the same thread as addObjectClass and localizeObjectClass. Initialize your recognition method here.

Returns: success of adding this entity to the recognition method

Implemented in SegmentableTemplateRecognition, SegmentableObjectRecognition, BlobRecognition, TexturedObjectRecognition, BigBowlLocalization, ColorMarkerObjectLocalizer, FaceRecognition, and HandMarkerLocalization.

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◆ isResultImageMaskEnabled()

bool isResultImageMaskEnabled ( ) const

inlineprotected

Definition at line 319 of file ObjectLocalizerProcessor.h.

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◆ localizeObjectClasses() [1/2]

memoryx::ObjectLocalizationResultList localizeObjectClasses	(	const memoryx::ObjectClassNameList &	objectClassNames,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

The process method is inherited from the ObjectLocalizationProcessorInterface and is called by the WorkingMemoryUpdater.

It should be considered final. Implement ObjectLocalizerProcessor::localizeObjectClass(const std::string& objecClassName, CByteImage** cameraImages, CByteIamge** resultImages) in your subclass instead.

Definition at line 176 of file ObjectLocalizerProcessor.cpp.

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◆ localizeObjectClasses() [2/2]

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

protectedpure virtual

ObjectLocalizerProcessor interface: The localizeObjectClass method needs to be implemented by any ObjectLocalizer.

Based on the object class name and the camera images it generates a list of localization results which correspond to found instances of objects belonging to that class.

This method is called by an @ObjectLocalizerProcessorJob.

Parameters

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

Returns: list of object instances

Implemented in SegmentableTemplateRecognition, SegmentableObjectRecognition, BlobRecognition, TexturedObjectRecognition, BigBowlLocalization, ColorMarkerObjectLocalizer, HandMarkerLocalization, and FaceRecognition.

◆ onConnectImageProcessor()

void onConnectImageProcessor ( )

overridevirtual

Called from framework.

Establishes the database connection, retrieves image provider settings and stereo calibration, initializes visualization if enabled and reads the object classes from the MemoryX database.

Calls the onConnectObjectLocalizerProcessor() hook.

See also: Component::onConnectComponent()

Implements ImageProcessor.

Definition at line 92 of file ObjectLocalizerProcessor.cpp.

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◆ onConnectObjectLocalizerProcessor()

virtual void onConnectObjectLocalizerProcessor ( )

inlineprotectedvirtual

ObjectLocalizerProcessor interface: subclass hook.

See also: ObjectLocalizerProcessor::onConnectImageProcessor()

Reimplemented in SegmentableTemplateRecognition, SegmentableObjectRecognition, BigBowlLocalization, TexturedObjectRecognition, BlobRecognition, ColorMarkerObjectLocalizer, HandMarkerLocalization, and FaceRecognition.

Definition at line 234 of file ObjectLocalizerProcessor.h.

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◆ onDisconnectComponent()

void onDisconnectComponent ( )

inlineoverridevirtual

Called from framework.

Calls the onDisconnectObjectLocalizerProcessor() hook.

See also: Component::onExitComponent()

Reimplemented from ManagedIceObject.

Definition at line 149 of file ObjectLocalizerProcessor.h.

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◆ onDisconnectObjectLocalizerProcessor()

virtual void onDisconnectObjectLocalizerProcessor ( )

inlineprotectedvirtual

ObjectLocalizerProcessor interface: subclass hook.

See also: ObjectLocalizerProcessor::onDisconnectImageProcessor()

Definition at line 241 of file ObjectLocalizerProcessor.h.

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◆ onExitImageProcessor()

void onExitImageProcessor ( )

inlineoverridevirtual

Called from framework.

Calls the onExitObjectLocalizerProcessor() hook.

See also: Component::onExitComponent()

Implements ImageProcessor.

Definition at line 164 of file ObjectLocalizerProcessor.h.

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◆ onExitObjectLocalizerProcessor()

virtual void onExitObjectLocalizerProcessor ( )

inlineprotectedvirtual

ObjectLocalizerProcessor interface: subclass hook.

See also: ObjectLocalizerProcessor::onExitImageProcessor()

Reimplemented in SegmentableTemplateRecognition, SegmentableObjectRecognition, BlobRecognition, TexturedObjectRecognition, BigBowlLocalization, ColorMarkerObjectLocalizer, HandMarkerLocalization, and FaceRecognition.

Definition at line 248 of file ObjectLocalizerProcessor.h.

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◆ onInitImageProcessor()

void onInitImageProcessor ( )

overridevirtual

Called from framework.

Sets up the required proxies and properties from config file. Calls the onInitObjectLocalizerProcessor() hook.

See also: Component::onInitComponent()

Implements ImageProcessor.

Definition at line 61 of file ObjectLocalizerProcessor.cpp.

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◆ onInitObjectLocalizerProcessor()

virtual void onInitObjectLocalizerProcessor ( )

inlineprotectedvirtual

ObjectLocalizerProcessor interface: subclass hook.

See also: ObjectLocalizerProcessor::onInitImageProcessor()

Reimplemented in SegmentableTemplateRecognition, SegmentableObjectRecognition, BigBowlLocalization, TexturedObjectRecognition, BlobRecognition, ColorMarkerObjectLocalizer, HandMarkerLocalization, and FaceRecognition.

Definition at line 227 of file ObjectLocalizerProcessor.h.

◆ process()

void process ( )

overridevirtual

The process method is inherited from ImageProcessor.

The process method is called by the framework in a separate thread and. The loading of the database and the triggering of recognition is performed in this thread.

See also: ImageProcessor::process()

Implements ImageProcessor.

Definition at line 196 of file ObjectLocalizerProcessor.cpp.

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◆ reportStereoCalibrationChanged()

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

inlineoverrideprotected

Definition at line 272 of file ObjectLocalizerProcessor.h.

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Friends And Related Function Documentation

◆ ObjectLocalizerProcessorJob

friend class ObjectLocalizerProcessorJob

friend

Definition at line 111 of file ObjectLocalizerProcessor.h.

Member Data Documentation

◆ cameraImages

CByteImage* cameraImages[2]

protected

Definition at line 372 of file ObjectLocalizerProcessor.h.

◆ cameraImagesData

CByteImage cameraImagesData[2]

protected

Definition at line 371 of file ObjectLocalizerProcessor.h.

◆ imageMetaInfo

armarx::MetaInfoSizeBasePtr imageMetaInfo

protected

Definition at line 375 of file ObjectLocalizerProcessor.h.

◆ imageProviderName

std::string imageProviderName

protected

Definition at line 366 of file ObjectLocalizerProcessor.h.

◆ numberOfResultImages

int numberOfResultImages

protected

Definition at line 376 of file ObjectLocalizerProcessor.h.

◆ priorKnowledgeProxyName

std::string priorKnowledgeProxyName

protected

Definition at line 367 of file ObjectLocalizerProcessor.h.

◆ referenceFrameName

std::string referenceFrameName

protected

Definition at line 368 of file ObjectLocalizerProcessor.h.

◆ resultImages

CByteImage** resultImages

protected

Definition at line 374 of file ObjectLocalizerProcessor.h.

◆ resultImagesData

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

protected

Definition at line 373 of file ObjectLocalizerProcessor.h.

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

VisionX/components/object_perception/ObjectLocalizerProcessor.h
VisionX/components/object_perception/ObjectLocalizerProcessor.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ObjectLocalizerProcessor()

Member Function Documentation

◆ addObjectClass()

◆ calculateLocalizationUncertainty() [1/2]

◆ calculateLocalizationUncertainty() [2/2]

◆ createPropertyDefinitions()

◆ getColorMask()

◆ getImageFormat()

◆ getImagesAreUndistorted()

◆ getReferenceFrameName()

◆ getResultImagesEnabled()

◆ getStereoCalibration()

◆ initRecognizer()

◆ isResultImageMaskEnabled()

◆ localizeObjectClasses() [1/2]

◆ localizeObjectClasses() [2/2]

◆ onConnectImageProcessor()

◆ onConnectObjectLocalizerProcessor()

◆ onDisconnectComponent()

◆ onDisconnectObjectLocalizerProcessor()

◆ onExitImageProcessor()

◆ onExitObjectLocalizerProcessor()

◆ onInitImageProcessor()

◆ onInitObjectLocalizerProcessor()

◆ process()

◆ reportStereoCalibrationChanged()

Friends And Related Function Documentation

◆ ObjectLocalizerProcessorJob

Member Data Documentation

◆ cameraImages

◆ cameraImagesData

◆ imageMetaInfo

◆ imageProviderName

◆ numberOfResultImages

◆ priorKnowledgeProxyName

◆ referenceFrameName

◆ resultImages

◆ resultImagesData