Component Class Reference

#include <VisionX/components/image_processor/Yolo/Component.h>

+ Inheritance diagram for Component:

Public Member Functions

virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions () override
 
virtual std::vector< std::string > getClasses (const Ice::Current &) override
 Returns the list of all known classes. More...
 
virtual std::string getDefaultName () const override
 
virtual float getFpsCap (const Ice::Current &) override
 
virtual double getHierThresh (const Ice::Current &) override
 Returns the currently set hierThresh parameter. More...
 
virtual double getNms (const Ice::Current &) override
 Returns the currently set nms parameter. More...
 
virtual double getThresh (const Ice::Current &) override
 Returns the currently set thresh parameter. More...
 
virtual void onConnectImageProcessor () override
 
virtual void onDisconnectImageProcessor () override
 
virtual void onExitImageProcessor () override
 
virtual void onInitImageProcessor () override
 
virtual void process () override
 
virtual void restoreDefaults (const Ice::Current &=Ice::Current{}) override
 Restores the default parameter values. More...
 
virtual void setFpsCap (float fps_cap, const Ice::Current &=Ice::Current{}) override
 
virtual void setHierThresh (double hier_thresh, const Ice::Current &) override
 Sets the new hierThresh parameter. More...
 
virtual void setNms (double nms, const Ice::Current &) override
 Sets the new nms parameter. More...
 
virtual void setThresh (double thresh, const Ice::Current &) override
 Sets the new thresh parameter. More...
 
virtual ~Component () override
 
- 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
 

Static Public Member Functions

static std::vector< DetectedObject > convertOutput (const std::vector< darknet::detection > &detections, const std::vector< std::string > &classes)
 Converts Darknet types to VisionX types. More...
 
static void renderOutput (const ::CByteImage *inputImage, const std::vector< DetectedObject > &detectedObjects, ::CByteImage *outputImage)
 Renders the objects detectedObjects, belonging to one of a class defined in classes onto the outputImage (initialsed from inputImage). More...
 
- 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

static const std::string default_name = "Yolo"
 
- 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...
 

Additional Inherited Members

- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 
- Protected Types inherited from ImageProcessor
using ImageProviderMap = std::map< std::string, armarx::IceSharedMemoryConsumer< unsigned char >::pointer_type >
 
- 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
 
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 Attributes inherited from ImageProcessor
int compressionQuality = 9
 
CompressionType compressionType = eNoCompression
 
float desiredFps = 0
 
std::map< std::string, ImageProviderInfoimageProviderInfoMap
 
std::shared_mutex imageProviderInfoMutex
 
armarx::PeriodicTask< ImageProcessor >::pointer_type processorTask
 
IceInternal::Handle< ResultImageProviderresultImageProvider
 
bool startProcessorTask = true
 
std::map< std::string, ImageTransferStatsstatistics
 
std::mutex statisticsMutex
 
ImageProviderMap usedImageProviders
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

Definition at line 56 of file Component.h.

Constructor & Destructor Documentation

◆ ~Component()

~Component ( )
overridevirtual

Definition at line 68 of file Component.cpp.

Member Function Documentation

◆ convertOutput()

std::vector< DetectedObject > convertOutput ( const std::vector< darknet::detection > &  detections,
const std::vector< std::string > &  classes 
)
static

Converts Darknet types to VisionX types.

Parameters
detectionsArray of detections.
classesAvailable classes as strings in correct order.
Returns
Converted Ice types as vector of DetectedObjects.

Definition at line 443 of file Component.cpp.

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )
overridevirtual
See also
PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 575 of file Component.cpp.

+ Here is the call graph for this function:

◆ getClasses()

std::vector< std::string > getClasses ( const Ice::Current &  )
overridevirtual

Returns the list of all known classes.

Returns
List of all known classes.

Definition at line 307 of file Component.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const
overridevirtual
See also
armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

Definition at line 192 of file Component.cpp.

◆ getFpsCap()

float getFpsCap ( const Ice::Current &  )
overridevirtual

Definition at line 278 of file Component.cpp.

◆ getHierThresh()

double getHierThresh ( const Ice::Current &  )
overridevirtual

Returns the currently set hierThresh parameter.

Returns
Currently set hierThresh parameter.

Definition at line 248 of file Component.cpp.

◆ getNms()

double getNms ( const Ice::Current &  )
overridevirtual

Returns the currently set nms parameter.

Returns
Currently set nms parameter.

Definition at line 263 of file Component.cpp.

◆ getThresh()

double getThresh ( const Ice::Current &  )
overridevirtual

Returns the currently set thresh parameter.

Returns
Currently set thresh parameter.

Definition at line 233 of file Component.cpp.

◆ onConnectImageProcessor()

void onConnectImageProcessor ( )
overridevirtual
See also
visionx::ImageProcessor::onConnectImageProcessor()

Implements ImageProcessor.

Definition at line 116 of file Component.cpp.

+ Here is the call graph for this function:

◆ onDisconnectImageProcessor()

void onDisconnectImageProcessor ( )
overridevirtual
See also
visionx::ImageProcessor::onDisconnectImageProcessor()

Reimplemented from ImageProcessor.

Definition at line 161 of file Component.cpp.

◆ onExitImageProcessor()

void onExitImageProcessor ( )
overridevirtual
See also
visionx::ImageProcessor::onExitImageProcessor()

Implements ImageProcessor.

Definition at line 185 of file Component.cpp.

◆ onInitImageProcessor()

void onInitImageProcessor ( )
overridevirtual
See also
visionx::ImageProcessor::onInitImageProcessor()

Implements ImageProcessor.

Definition at line 75 of file Component.cpp.

◆ process()

void process ( )
overridevirtual
See also
visionx::ImageProcessor::process()

Implements ImageProcessor.

Definition at line 199 of file Component.cpp.

◆ renderOutput()

void renderOutput ( const ::CByteImage *  inputImage,
const std::vector< DetectedObject > &  detectedObjects,
::CByteImage *  outputImage 
)
static

Renders the objects detectedObjects, belonging to one of a class defined in classes onto the outputImage (initialsed from inputImage).

Parameters
inputImageThe base image output_image is initialised from.
detectedObjectsAll detected objects to be rendered.
classesList of all classes an object can belong to.
outputImageOuput variable of the resulting rendered image.

Definition at line 482 of file Component.cpp.

+ Here is the call graph for this function:

◆ restoreDefaults()

void restoreDefaults ( const Ice::Current &  = Ice::Current{})
overridevirtual

Restores the default parameter values.

Definition at line 314 of file Component.cpp.

◆ setFpsCap()

void setFpsCap ( float  fps_cap,
const Ice::Current &  = Ice::Current{} 
)
overridevirtual

Definition at line 292 of file Component.cpp.

◆ setHierThresh()

void setHierThresh ( double  hier_thresh,
const Ice::Current &   
)
overridevirtual

Sets the new hierThresh parameter.

Parameters
hier_threshNew hierThresh.

Definition at line 255 of file Component.cpp.

◆ setNms()

void setNms ( double  nms,
const Ice::Current &   
)
overridevirtual

Sets the new nms parameter.

Parameters
nmsNew nms.

Definition at line 270 of file Component.cpp.

◆ setThresh()

void setThresh ( double  thresh,
const Ice::Current &   
)
overridevirtual

Sets the new thresh parameter.

Parameters
threshNew thresh.

Definition at line 240 of file Component.cpp.

Member Data Documentation

◆ default_name

const std::string default_name = "Yolo"
static

Definition at line 64 of file Component.h.


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