#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< 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

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 LogSenderPtr &	getLogSender () 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, 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

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

detections	Array of detections.
classes	Available 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.

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◆ 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.

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◆ 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

inputImage	The base image output_image is initialised from.
detectedObjects	All detected objects to be rendered.
classes	List of all classes an object can belong to.
outputImage	Ouput variable of the resulting rendered image.

Definition at line 482 of file Component.cpp.

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◆ 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_thresh New hierThresh.

Definition at line 255 of file Component.cpp.

◆ setNms()

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

overridevirtual

Sets the new nms parameter.

Parameters

nms New nms.

Definition at line 270 of file Component.cpp.

◆ setThresh()

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

overridevirtual

Sets the new thresh parameter.

Parameters

thresh New 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:

VisionX/components/image_processor/Yolo/Component.h
VisionX/components/image_processor/Yolo/Component.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~Component()

Member Function Documentation

◆ convertOutput()

◆ createPropertyDefinitions()

◆ getClasses()

◆ getDefaultName()

◆ getFpsCap()

◆ getHierThresh()

◆ getNms()

◆ getThresh()

◆ onConnectImageProcessor()

◆ onDisconnectImageProcessor()

◆ onExitImageProcessor()

◆ onInitImageProcessor()

◆ process()

◆ renderOutput()

◆ restoreDefaults()

◆ setFpsCap()

◆ setHierThresh()

◆ setNms()

◆ setThresh()

Member Data Documentation

◆ default_name