Bridge module between the interactive object learning and recognition system (iol) and yarp database of object properties Version:1.0 More...

Collaboration diagram for iol2opc:

Namespaces
	Bridge

Classes
class	IOLObject

class	IOL2OPCBridge

Detailed Description

Bridge module between the interactive object learning and recognition system (iol) and yarp database of object properties Version:1.0

Author: Ugo Pattacini ugo.p.nosp@m.atta.nosp@m.cini@.nosp@m.iit..nosp@m.it, Tobias Fischer t.fis.nosp@m.cher.nosp@m.@impe.nosp@m.rial.nosp@m..ac.u.nosp@m.k

Copyright: Released under the terms of the GNU GPL v2.0

Description

This module provides wrappers of procedures to acquire perceived information from iol and store them in opc database.

Parameters

– name : name of the module

Input Ports

/iol2opc/blobs:i [Bottle] [default carrier:udp]: Get extracted blobs from lbpExtract.
/iol2opc/histObjLocation:i [Bottle] [default carrier:tcp]: Receives the pixel in the image from which retrieve a cartesian position for displaying the classification histograms of the closest blob.
/iol2opc/img:i [Bottle] [default carrier:tcp]: Get calibrated images from camera.
/iol2opc/getClick:i [Bottle] [default carrier:tcp]: Get clicked position through this port

Output Ports

/iol2opc/imgTrack:o [Image] [default carrier:udp]: Stream out the image of tracked objects
/iol2opc/imgLoc:o [Image] [default carrier:udp]: Streams out the images for real-time objects localization.
/iol2opc/imgHistogram:o [Image] [default carrier:udp]: Stream out the histogram of classification scores.
/iol2opc/imgClassifier:o [Image] [default carrier:tcp]: Pass images to the classifier.
/iol2opc/imgSel:o [Image] [default carrier:tcp]: Stream out the image inside the selected blob.
/iol2opc/get3d:rpc [rpc] [default carrier:tcp]: Send requests to SFM for 3D estimation.
/iol2opc/classify:rpc [rpc] [default carrier:tcp]: Send requests to himrepClassifier for object classification.

Services

/iol2opc/rpc [rpc-server]: Command port . This service is described in iol2opc_IDL (iol2opc.thrift)

Class Documentation

◆ IOLObject

class IOLObject

Definition at line 62 of file module.h.

Public Member Functions
	IOLObject (const int filter_order=1, const double presenceTmo_=0.0, const string &trackerType_="BOOSTING", const double trackerTmo_=0.0)

void	heartBeat ()
	heartBeat current time value More...

bool	isDead ()
	isDead duration comparison procedure with presenceTmo More...

void	filt (const Vector &x, Vector &xFilt, const Vector &d, Vector &dFilt)
	filt apply the median filter More...

void	prepare ()
	prepare initialize the tracker More...

void	latchBBox (const CvRect &bbox)
	latchBBox assign tracker with bounding box value More...

void	track (const Image &img)
	track procdure to start tracking an image More...

bool	is_tracking (CvRect &bbox) const
	is_tracking procedure to check the tracking state More...

Protected Types
enum	{ idle, init, no_need, tracking }

Protected Attributes
MedianFilter	filterPos
	median filter for position of object More...

MedianFilter	filterDim
	median filter for object dimension More...

bool	init_filters

double	presenceTmo
	current set timeout More...

double	presenceTimer
	current timer More...

string	trackerType

int	trackerState
	tracker state: idle, init, no_need or tracking More...

double	trackerTmo
	set value of tracker timout More...

double	trackerTimer
	current value of tracker timer More...

cv::Rect2d	trackerResult

cv::Ptr< cv::Tracker >	tracker

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

protected

Enumerator
idle
init
no_need
tracking

Definition at line 71 of file module.h.

Constructor & Destructor Documentation

◆ IOLObject()

IOLObject::IOLObject	(	const int	filter_order = `1`,
		const double	presenceTmo_ = `0.0`,
		const string &	trackerType_ = `"BOOSTING"`,
		const double	trackerTmo_ = `0.0`
	)

inline

Definition at line 83 of file module.h.

Member Function Documentation

◆ filt()

void IOLObject::filt	(	const Vector &	x,
		Vector &	xFilt,
		const Vector &	d,
		Vector &	dFilt
	)

inline

filt apply the median filter

Parameters

x	Yarp Vector of current state of x
xFilt	Yarp Vector of filtered state of x
d	Yarp Vector of current state of d
dFilt	Yarp Vector of filtered state of d

Definition at line 125 of file module.h.

◆ heartBeat()

void IOLObject::heartBeat ( )

inline

heartBeat current time value

Definition at line 99 of file module.h.

◆ is_tracking()

bool IOLObject::is_tracking ( CvRect & bbox ) const

inline

is_tracking procedure to check the tracking state

Parameters

bbox	the tracked bouding box

Returns: True if the trackerState is not idle, False otherwise

Definition at line 219 of file module.h.

◆ isDead()

bool IOLObject::isDead ( )

inline

isDead duration comparison procedure with presenceTmo

Returns: True if presenceTmo is exceeded, False otherwise

Definition at line 109 of file module.h.

◆ latchBBox()

void IOLObject::latchBBox ( const CvRect & bbox )

inline

latchBBox assign tracker with bounding box value

Parameters

bbox	CvRect object containing bouding box value, i.e x, y, width, height

Definition at line 156 of file module.h.

◆ prepare()

void IOLObject::prepare ( )

inline

prepare initialize the tracker

Definition at line 145 of file module.h.

◆ track()

void IOLObject::track ( const Image & img )

inline

track procdure to start tracking an image

Parameters

img	Image type object

Definition at line 170 of file module.h.

Member Data Documentation

◆ filterDim

MedianFilter IOLObject::filterDim

protected

median filter for object dimension

Definition at line 66 of file module.h.

◆ filterPos

MedianFilter IOLObject::filterPos

protected

median filter for position of object

Definition at line 65 of file module.h.

◆ init_filters

bool IOLObject::init_filters

protected

Definition at line 67 of file module.h.

◆ presenceTimer

double IOLObject::presenceTimer

protected

current timer

Definition at line 69 of file module.h.

◆ presenceTmo

double IOLObject::presenceTmo

protected

current set timeout

Definition at line 68 of file module.h.

◆ tracker

cv::Ptr<cv::Tracker> IOLObject::tracker

protected

Definition at line 79 of file module.h.

◆ trackerResult

cv::Rect2d IOLObject::trackerResult

protected

Definition at line 78 of file module.h.

◆ trackerState

int IOLObject::trackerState

protected

tracker state: idle, init, no_need or tracking

Definition at line 74 of file module.h.

◆ trackerTimer

double IOLObject::trackerTimer

protected

current value of tracker timer

Definition at line 76 of file module.h.

◆ trackerTmo

double IOLObject::trackerTmo

protected

set value of tracker timout

Definition at line 75 of file module.h.

◆ trackerType

string IOLObject::trackerType

protected

Definition at line 73 of file module.h.

◆ IOL2OPCBridge

class IOL2OPCBridge

Definition at line 232 of file module.h.

Inheritance diagram for IOL2OPCBridge:

Public Member Functions
bool	train_object (const string &name)
	Add a new object to the object-recognition database based on the selected blob. More...

bool	remove_object (const string &name)
	Remove object with a given name from the object-recognition database. More...

bool	remove_all ()
	Remove all objects from the object-recognition database. More...

bool	change_name (const string &old_name, const string &new_name)
	Change the name of an object. More...

bool	set_object_persistence (const string &sw)
	Enable/disable object persistence. More...

string	get_object_persistence ()
	Return current status of object persistence. More...

void	pause ()
	Pause module. More...

void	resume ()
	Resume module. More...

Public Member Functions inherited from iol2opc_IDL
	iol2opc_IDL ()

virtual bool	read (yarp::os::ConnectionReader &connection) override

virtual std::vector< std::string >	help (const std::string &functionName="--all")

Protected Member Functions
void	yInfoGated (const char *msg,...) const

string	findName (const Bottle &scores, const string &tag)
	findName Find name of a blob or set it OBJECT_UNKNOWN More...

Bottle	skimBlobs (const Bottle &blobs)
	skimBlobs Remove blobs which are too far away in the Cartesian space wrt Root frame More...

bool	thresBBox (CvRect &bbox, const Image &img)
	thresBBox Constrain a bounding box with respect to an image size More...

Bottle	getBlobs ()
	getBlobs Wrapper to get blobs information from the blobExtractor port More...

CvPoint	getBlobCOG (const Bottle &blobs, const unsigned int i)
	getBlobCOG Get the blob center of the object defined by i More...

bool	getBlobPoints (const CvPoint &cog, deque< CvPoint > &blobPoints)
	getBlobPoints Obtain CvPoints belonging to a blob defined by cog, from lbpExtract More...

bool	getSuperQuadric (const CvPoint &point, Vector &pos, Vector &dim)
	getSuperQuadric Obtain superquadric-model of an object, defined by point More...

bool	get3DPosition (const CvPoint &point, Vector &x)
	get3DPosition Get the 3D point coordinate in Root frame through SFM More...

bool	get3DPositionAndDimensions (const CvRect &bbox, Vector &x, Vector &dim)
	get3DPositionAndDimensions Get the 3D point coordinate and dimension in Root frame through SFM More...

Vector	calibPosition (const Vector &x)

bool	getClickPosition (CvPoint &pos)
	getClickPosition Get the position on image that user clicks on More...

void	acquireImage ()
	acquireImage Get calibrated image from the left camera of iCub More...

void	drawBlobs (const Bottle &blobs, const unsigned int i, const Bottle &scores)
	drawBlobs Add bounding box and name of object in output image shown through port imgRtLocOut More...

void	rotate (cv::Mat &src, const double angle, cv::Mat &dst)
	rotate Create new OpenCV matrix by rotating an original one an angle in 2D, a wrapper of cv::warpAffine More...

void	drawScoresHistogram (const Bottle &blobs, const Bottle &scores, const int i)
	drawScoresHistogram Draw histogram of objects' scores More...

int	findClosestBlob (const Bottle &blobs, const CvPoint &loc)
	findClosestBlob Find the closest blob to location More...

int	findClosestBlob (const Bottle &blobs, const Vector &loc)
	findClosestBlob Find the closest blob to location More...

Bottle	classify (const Bottle &blobs)
	classify Classify an object using himrepClassifier More...

void	train (const string &object, const Bottle &blobs, const int i)
	train Training himrepClassifier by sending an object by name and its bounding box More...

void	doLocalization ()
	doLocalization The whole procedure to classify objects, from getting image to draw bounding boxes arround objects More...

void	updateOPC ()
	updateOPC The whole procedure to update OPC, including naming known and unknown objects, drawing bounding boxes around objects More...

ObjectArea	getReachableArea (const yarp::sig::VectorOf< double > &objpos)
	getReachableArea Analyse if an object is inside which region: Human, Shared, Robot or Not-Reachable More...

bool	configure (ResourceFinder &rf)

void	setBounds (ResourceFinder &rf, Vector &bounds, string configName, double std_lower, double std_upper)
	setBounds Set min & max for a vector More...

bool	interruptModule ()

bool	close ()

bool	attach (RpcServer &source)

double	getPeriod ()

bool	updateModule ()

Protected Attributes
RpcServer	rpcPort
	rpc server to receive user request More...

RpcClient	rpcClassifier
	rpc client port to send requests to himrepClassifier More...

RpcClient	rpcGet3D
	rpc client port to send requests to SFM More...

OPCClient *	opc
	OPC client object. More...

RpcClient	rpcGetSPQ
	rpc client port to send requests to superquadric-model and receive superquadric parameters More...

RpcClient	rpcGetBlobPoints
	rpc client port to send requests to lbpExtract and receive all points of a blob More...

BufferedPort< Bottle >	blobExtractor
	buffered port of input of received blobs from lbpExtract More...

BufferedPort< Bottle >	histObjLocPort
	buffered port of input of localized objects from iol localizer More...

BufferedPort< Bottle >	getClickPort
	buffered port of input of clicked position More...

BufferedPort< Bottle >	objLocOut
	buffered port of output of localized objects More...

BufferedPort< ImageOf< PixelBgr > >	imgIn
	buffered port of input calibrated image from left camera of iCub More...

BufferedPort< ImageOf< PixelBgr > >	imgRtLocOut
	buffered port of output image for real-time objects localization More...

BufferedPort< ImageOf< PixelBgr > >	imgTrackOut
	buffered port of output image of tracked object More...

BufferedPort< ImageOf< PixelBgr > >	imgSelBlobOut
	buffered port of output image inside the selected blob (by clicking on) More...

BufferedPort< ImageOf< PixelBgr > >	imgHistogram
	buffered port of output image of histogram of classification scores. More...

Port	imgClassifier
	port of output image to himrefClassifier More...

RtLocalization	rtLocalization

OpcUpdater	opcUpdater

int	opcMedianFilterOrder

ClassifierReporter	classifierReporter

ImageOf< PixelBgr >	imgRtLoc
	Image for real-time objects localization. More...

Mutex	mutexResources

Mutex	mutexResourcesOpc

Mutex	mutexResourcesSFM

Mutex	mutexResourcesSPQ

double	period

bool	verbose

bool	empty

bool	object_persistence

bool	useSPQ
	boolean flag to enable/disable using Superquadric-model for object pose and size estimation More...

bool	connectedSPQ
	boolean flag to check internal connection to Superquadric-model More...

double	presence_timeout

string	tracker_type

double	tracker_timeout

VectorOf< int >	tracker_min_blob_size
	minimum size of tracker blob More...

map< string, IOLObject >	db

Bridge::State	state

IOLObject	onlyKnownObjects

map< string, Filter * >	histFiltersPool

int	histFilterLength

deque< CvScalar >	histColorsCode

double	blobs_detection_timeout

double	lastBlobsArrivalTime
	time stamp of last received blob More...

Bottle	lastBlobs
	Bottle contains last blob information. More...

Bottle	opcBlobs
	Bottle contains received blobs of objects from OPC. More...

Bottle	opcScores
	Bottle contains received (class) score of objects from OPC. More...

Vector	skim_blobs_x_bounds
	Yarp Vector of min, max bounding in x-axis to reduce the blob detection. More...

Vector	skim_blobs_y_bounds
	Yarp Vector of min, max bounding in y-axis to reduce the blob detection. More...

Vector	histObjLocation

Vector	human_area_x_bounds
	Yarp Vector of min, max bounding of human region in x-axis. More...

Vector	human_area_y_bounds
	Yarp Vector of min, max bounding of human region in y-axis. More...

Vector	robot_area_x_bounds
	Yarp Vector of min, max bounding of robot region in x-axis. More...

Vector	robot_area_y_bounds
	Yarp Vector of min, max bounding of robot region in y-axis. More...

Vector	shared_area_x_bounds
	Yarp Vector of min, max bounding of shared region in x-axis. More...

Vector	shared_area_y_bounds
	Yarp Vector of min, max bounding of shared region in y-axis. More...

CvPoint	clickLocation

Friends
class	RtLocalization

class	OpcUpdater

class	ClassifierReporter

Member Function Documentation

◆ acquireImage()

void IOL2OPCBridge::acquireImage ( )

protected

acquireImage Get calibrated image from the left camera of iCub

Definition at line 438 of file module.cpp.

◆ attach()

bool IOL2OPCBridge::attach ( RpcServer & source )

protected

Definition at line 1334 of file module.cpp.

◆ calibPosition()

Vector IOL2OPCBridge::calibPosition ( const Vector & x )

protected

◆ change_name()

bool IOL2OPCBridge::change_name	(	const string &	old_name,
		const string &	new_name
	)

virtual

Change the name of an object.

Parameters

old_name	is the object which name is to be changed
new_name	is the new object name

Returns: true/false on success/failure.

Reimplemented from iol2opc_IDL.

Definition at line 1444 of file module.cpp.

◆ classify()

Bottle IOL2OPCBridge::classify ( const Bottle & blobs )

protected

classify Classify an object using himrepClassifier

Parameters

blobs Yarp Bottle contains information of the estimated object bounding boxes: top left x, y, bottom right x, y. This will be sent to himrepClassifier for object detection

Returns: Yarp Bottle contains class of object and confidence score

Definition at line 693 of file module.cpp.

◆ close()

bool IOL2OPCBridge::close ( )

protected

Definition at line 1176 of file module.cpp.

◆ configure()

bool IOL2OPCBridge::configure ( ResourceFinder & rf )

protected

Definition at line 1016 of file module.cpp.

◆ doLocalization()

void IOL2OPCBridge::doLocalization ( )

protected

doLocalization The whole procedure to classify objects, from getting image to draw bounding boxes arround objects

Definition at line 757 of file module.cpp.

◆ drawBlobs()

void IOL2OPCBridge::drawBlobs	(	const Bottle &	blobs,
		const unsigned int	i,
		const Bottle &	scores
	)

protected

drawBlobs Add bounding box and name of object in output image shown through port imgRtLocOut

Parameters

blobs	Yarp Bottle contains information of the estimated object bounding boxes: top left x, y, bottom right x, y
i	integer value as index of the blob to draw the bounding box
scores	Bottle contains classified results from himrepClassifier,

See also: classify()

Definition at line 453 of file module.cpp.

◆ drawScoresHistogram()

void IOL2OPCBridge::drawScoresHistogram	(	const Bottle &	blobs,
		const Bottle &	scores,
		const int	i
	)

protected

drawScoresHistogram Draw histogram of objects' scores

Parameters

blobs	Yarp Bottle contains information of the estimated object bounding boxes: top left x, y, bottom right x, y
i	integer value as index of the blob to draw the bounding box
scores	Bottle contains classified results from himrepClassifier,

See also: classify()

Definition at line 513 of file module.cpp.

◆ findClosestBlob() [1/2]

int IOL2OPCBridge::findClosestBlob	(	const Bottle &	blobs,
		const CvPoint &	loc
	)

protected

findClosestBlob Find the closest blob to location

Parameters

blobs	Yarp Bottle contains information of the estimated object bounding box: top left x, y, bottom right x, y
loc	A CvPoint contains 2D coordinate of pixel expressed the location

Returns: integer value of the corresponding blob to the location

Definition at line 636 of file module.cpp.

◆ findClosestBlob() [2/2]

int IOL2OPCBridge::findClosestBlob	(	const Bottle &	blobs,
		const Vector &	loc
	)

protected

findClosestBlob Find the closest blob to location

Parameters

blobs	Yarp Bottle contains information of the estimated object bounding boxes: top left x, y, bottom right x, y
loc	A Vector contains 3D coordinate of the location in the Root frame

Returns: integer value of the corresponding blob to the location

Definition at line 664 of file module.cpp.

◆ findName()

string IOL2OPCBridge::findName	(	const Bottle &	scores,
		const string &	tag
	)

protected

findName Find name of a blob or set it OBJECT_UNKNOWN

Parameters

scores Bottle contains classified results from himrepClassifier,

See also: classify()

Parameters

tag	input string contains blob name, i.e. "blob_<i>" with i as index of a blob in set of results from getBlobs()

Returns: string value for name of the blob: OBJECT_UNKNOWN or class name from classifier

Definition at line 46 of file module.cpp.

◆ get3DPosition()

bool IOL2OPCBridge::get3DPosition	(	const CvPoint &	point,
		Vector &	x
	)

protected

get3DPosition Get the 3D point coordinate in Root frame through SFM

Parameters

point	A CvPoint for the estimated coordinate of an image pixel.
x	Vector for 3D point coordinate. If SFM return more than one 3D point as result, the coordinate is average of all result

Returns: True if can get 3D point from SFM, False otherwise

Definition at line 339 of file module.cpp.

◆ get3DPositionAndDimensions()

bool IOL2OPCBridge::get3DPositionAndDimensions	(	const CvRect &	bbox,
		Vector &	x,
		Vector &	dim
	)

protected

get3DPositionAndDimensions Get the 3D point coordinate and dimension in Root frame through SFM

Parameters

bbox	A CvRect for bounding box of object
x	Vector for 3D point coordinate. If SFM return more than one 3D point as result, the coordinate is average of all result
dim	Vector for 3D dimensions of object, calculated using coordinates of points from SFM

Returns: True if get response from SFM, False otherwise

Definition at line 392 of file module.cpp.

◆ get_object_persistence()

string IOL2OPCBridge::get_object_persistence ( )

virtual

Return current status of object persistence.

Returns: "on"|"off".

Reimplemented from iol2opc_IDL.

Definition at line 1520 of file module.cpp.

◆ getBlobCOG()

CvPoint IOL2OPCBridge::getBlobCOG	(	const Bottle &	blobs,
		const unsigned int	i
	)

protected

getBlobCOG Get the blob center of the object defined by i

Parameters

blobs	Yarp Bottle contains information of the estimated object bounding boxes: top left x, y, bottom right x, y
i	integer value to define object

Returns: A CvPoint containing x, y coordinate of the blob center

Definition at line 169 of file module.cpp.

◆ getBlobPoints()

bool IOL2OPCBridge::getBlobPoints	(	const CvPoint &	cog,
		deque< CvPoint > &	blobPoints
	)

protected

getBlobPoints Obtain CvPoints belonging to a blob defined by cog, from lbpExtract

Parameters

cog	CvPoint of center of mass of the blob
blobPoints	A set of CvPoints of the blob

Returns: True if can get result from lbpExtract, False otherwise

Definition at line 214 of file module.cpp.

◆ getBlobs()

Bottle IOL2OPCBridge::getBlobs ( )

protected

getBlobs Wrapper to get blobs information from the blobExtractor port

Returns: Yarp Bottle contains all valid segmented object blobs from lbpExtract module

Definition at line 141 of file module.cpp.

◆ getClickPosition()

bool IOL2OPCBridge::getClickPosition ( CvPoint & pos )

protected

getClickPosition Get the position on image that user clicks on

Parameters

pos	A CvPoint contains 2D coordinate of the estimated pixel that user clicks on

Returns: True if the result pixel is valid, False otherwise

Definition at line 193 of file module.cpp.

◆ getPeriod()

double IOL2OPCBridge::getPeriod ( )

protected

Definition at line 1228 of file module.cpp.

◆ getReachableArea()

ObjectArea IOL2OPCBridge::getReachableArea ( const yarp::sig::VectorOf< double > & objpos )

protected

getReachableArea Analyse if an object is inside which region: Human, Shared, Robot or Not-Reachable

Parameters

objpos Vector of object position

Returns: ObjectArea that the object belongs to

Definition at line 792 of file module.cpp.

◆ getSuperQuadric()

bool IOL2OPCBridge::getSuperQuadric	(	const CvPoint &	point,
		Vector &	pos,
		Vector &	dim
	)

protected

getSuperQuadric Obtain superquadric-model of an object, defined by point

Parameters

point	CvPoint of center of mass of the blob
pos	A Yarp Vector of the object pose estimation, calculated by the superquadric-model
dim	A Yarp Vector of the object dimension estimation, calculated by the superquadric-model

Returns: True if can get result from superquadric-model, False otherwise

Definition at line 255 of file module.cpp.

◆ interruptModule()

bool IOL2OPCBridge::interruptModule ( )

protected

Definition at line 1143 of file module.cpp.

◆ pause()

void IOL2OPCBridge::pause ( )

virtual

Pause module.

Reimplemented from iol2opc_IDL.

Definition at line 1527 of file module.cpp.

◆ remove_all()

bool IOL2OPCBridge::remove_all ( )

virtual

Remove all objects from the object-recognition database.

Returns: true/false on success/failure.

Reimplemented from iol2opc_IDL.

Definition at line 1414 of file module.cpp.

◆ remove_object()

bool IOL2OPCBridge::remove_object ( const string & name )

virtual

Remove object with a given name from the object-recognition database.

Parameters

name	is the object name

Returns: true/false on success/failure.

Reimplemented from iol2opc_IDL.

Definition at line 1382 of file module.cpp.

◆ resume()

void IOL2OPCBridge::resume ( )

virtual

Resume module.

Reimplemented from iol2opc_IDL.

Definition at line 1534 of file module.cpp.

◆ rotate()

void IOL2OPCBridge::rotate	(	cv::Mat &	src,
		const double	angle,
		cv::Mat &	dst
	)

protected

rotate Create new OpenCV matrix by rotating an original one an angle in 2D, a wrapper of cv::warpAffine

Parameters

src	Original OpenCV matrix
angle	Double value for rotated angle
dst	New rotated OpenCV matrix

Definition at line 502 of file module.cpp.

◆ set_object_persistence()

bool IOL2OPCBridge::set_object_persistence ( const string & sw )

virtual

Enable/disable object persistence.

Parameters

sw	can be "on"\|"off".

Returns: true/false on success/failure.

Reimplemented from iol2opc_IDL.

Definition at line 1506 of file module.cpp.

◆ setBounds()

void IOL2OPCBridge::setBounds	(	ResourceFinder &	rf,
		Vector &	bounds,
		string	configName,
		double	std_lower,
		double	std_upper
	)

protected

setBounds Set min & max for a vector

Parameters

rf	ResourceFinder object
bounds	Vector to set bounds to
configName	string value for name of the parameter in config file
std_lower	double value for min bound
std_upper	double value for max bound

Definition at line 985 of file module.cpp.

◆ skimBlobs()

Bottle IOL2OPCBridge::skimBlobs ( const Bottle & blobs )

protected

skimBlobs Remove blobs which are too far away in the Cartesian space wrt Root frame

Parameters

blobs Original Yarp Bottle contains all blobs

Returns: Result Bottle contains valid blobs

Definition at line 97 of file module.cpp.

◆ thresBBox()

bool IOL2OPCBridge::thresBBox	(	CvRect &	bbox,
		const Image &	img
	)

protected

thresBBox Constrain a bounding box with respect to an image size

Parameters

bbox	CvRect define the bounding box
img	Image with information used to constrain the bounding box

Returns: True if the size of the constrained bounding box is large enough (bigger than tracker_min_blob_size)

Definition at line 121 of file module.cpp.

◆ train()

void IOL2OPCBridge::train	(	const string &	object,
		const Bottle &	blobs,
		const int	i
	)

protected

train Training himrepClassifier by sending an object by name and its bounding box

Parameters

object	string value contains name of object to train
blobs	Yarp Bottle contains information of the estimated object bounding boxes: top left x, y, bottom right x, y
i	integer value for the corresponding blob of the object needed to train

Definition at line 723 of file module.cpp.

◆ train_object()

bool IOL2OPCBridge::train_object ( const string & name )

virtual

Add a new object to the object-recognition database based on the selected blob.

If the object is already existing, its recognition is improved.

Parameters

name	is the object name

Returns: true/false on success/failure.

Reimplemented from iol2opc_IDL.

Definition at line 1341 of file module.cpp.

◆ updateModule()

bool IOL2OPCBridge::updateModule ( )

protected

Definition at line 1235 of file module.cpp.

◆ updateOPC()

void IOL2OPCBridge::updateOPC ( )

protected

updateOPC The whole procedure to update OPC, including naming known and unknown objects, drawing bounding boxes around objects

Definition at line 808 of file module.cpp.

◆ yInfoGated()

void IOL2OPCBridge::yInfoGated	(	const char *	msg,
			...
	)		const

protected

Definition at line 30 of file module.cpp.

Friends And Related Function Documentation

◆ ClassifierReporter

friend class ClassifierReporter

friend

Definition at line 304 of file module.h.

◆ OpcUpdater

friend class OpcUpdater

friend

Definition at line 303 of file module.h.

◆ RtLocalization

friend class RtLocalization

friend

Definition at line 302 of file module.h.

Member Data Documentation

◆ blobExtractor

BufferedPort<Bottle> IOL2OPCBridge::blobExtractor

protected

buffered port of input of received blobs from lbpExtract

Definition at line 242 of file module.h.

◆ blobs_detection_timeout

double IOL2OPCBridge::blobs_detection_timeout

protected

Definition at line 283 of file module.h.

◆ classifierReporter

ClassifierReporter IOL2OPCBridge::classifierReporter

protected

Definition at line 256 of file module.h.

◆ clickLocation

CvPoint IOL2OPCBridge::clickLocation

protected

Definition at line 300 of file module.h.

◆ connectedSPQ

bool IOL2OPCBridge::connectedSPQ

protected

boolean flag to check internal connection to Superquadric-model

Definition at line 269 of file module.h.

◆ db

map<string,IOLObject> IOL2OPCBridge::db

protected

Definition at line 275 of file module.h.

◆ empty

bool IOL2OPCBridge::empty

protected

Definition at line 266 of file module.h.

◆ getClickPort

BufferedPort<Bottle> IOL2OPCBridge::getClickPort

protected

buffered port of input of clicked position

Definition at line 244 of file module.h.

◆ histColorsCode

deque<CvScalar> IOL2OPCBridge::histColorsCode

protected

Definition at line 281 of file module.h.

◆ histFilterLength

int IOL2OPCBridge::histFilterLength

protected

Definition at line 280 of file module.h.

◆ histFiltersPool

map<string,Filter*> IOL2OPCBridge::histFiltersPool

protected

Definition at line 279 of file module.h.

◆ histObjLocation

Vector IOL2OPCBridge::histObjLocation

protected

Definition at line 291 of file module.h.

◆ histObjLocPort

BufferedPort<Bottle> IOL2OPCBridge::histObjLocPort

protected

buffered port of input of localized objects from iol localizer

Definition at line 243 of file module.h.

◆ human_area_x_bounds

Vector IOL2OPCBridge::human_area_x_bounds

protected

Yarp Vector of min, max bounding of human region in x-axis.

Definition at line 293 of file module.h.

◆ human_area_y_bounds

Vector IOL2OPCBridge::human_area_y_bounds

protected

Yarp Vector of min, max bounding of human region in y-axis.

Definition at line 294 of file module.h.

◆ imgClassifier

Port IOL2OPCBridge::imgClassifier

protected

port of output image to himrefClassifier

Definition at line 251 of file module.h.

◆ imgHistogram

BufferedPort<ImageOf<PixelBgr> > IOL2OPCBridge::imgHistogram

protected

buffered port of output image of histogram of classification scores.

Definition at line 250 of file module.h.

◆ imgIn

BufferedPort<ImageOf<PixelBgr> > IOL2OPCBridge::imgIn

protected

buffered port of input calibrated image from left camera of iCub

Definition at line 246 of file module.h.

◆ imgRtLoc

ImageOf<PixelBgr> IOL2OPCBridge::imgRtLoc

protected

Image for real-time objects localization.

Definition at line 258 of file module.h.

◆ imgRtLocOut

BufferedPort<ImageOf<PixelBgr> > IOL2OPCBridge::imgRtLocOut

protected

buffered port of output image for real-time objects localization

Definition at line 247 of file module.h.

◆ imgSelBlobOut

BufferedPort<ImageOf<PixelBgr> > IOL2OPCBridge::imgSelBlobOut

protected

buffered port of output image inside the selected blob (by clicking on)

Definition at line 249 of file module.h.

◆ imgTrackOut

BufferedPort<ImageOf<PixelBgr> > IOL2OPCBridge::imgTrackOut

protected

buffered port of output image of tracked object

Definition at line 248 of file module.h.

◆ lastBlobs

Bottle IOL2OPCBridge::lastBlobs

protected

Bottle contains last blob information.

Definition at line 285 of file module.h.

◆ lastBlobsArrivalTime

double IOL2OPCBridge::lastBlobsArrivalTime

protected

time stamp of last received blob

Definition at line 284 of file module.h.

◆ mutexResources

Mutex IOL2OPCBridge::mutexResources

protected

Definition at line 259 of file module.h.

◆ mutexResourcesOpc

Mutex IOL2OPCBridge::mutexResourcesOpc

protected

Definition at line 260 of file module.h.

◆ mutexResourcesSFM

Mutex IOL2OPCBridge::mutexResourcesSFM

protected

Definition at line 261 of file module.h.

◆ mutexResourcesSPQ

Mutex IOL2OPCBridge::mutexResourcesSPQ

protected

Definition at line 262 of file module.h.

◆ object_persistence

bool IOL2OPCBridge::object_persistence

protected

Definition at line 267 of file module.h.

◆ objLocOut

BufferedPort<Bottle> IOL2OPCBridge::objLocOut

protected

buffered port of output of localized objects

Definition at line 245 of file module.h.

◆ onlyKnownObjects

IOLObject IOL2OPCBridge::onlyKnownObjects

protected

Definition at line 277 of file module.h.

◆ opc

OPCClient* IOL2OPCBridge::opc

protected

OPC client object.

Definition at line 238 of file module.h.

◆ opcBlobs

Bottle IOL2OPCBridge::opcBlobs

protected

Bottle contains received blobs of objects from OPC.

Definition at line 286 of file module.h.

◆ opcMedianFilterOrder

int IOL2OPCBridge::opcMedianFilterOrder

protected

Definition at line 255 of file module.h.

◆ opcScores

Bottle IOL2OPCBridge::opcScores

protected

Bottle contains received (class) score of objects from OPC.

Definition at line 287 of file module.h.

◆ opcUpdater

OpcUpdater IOL2OPCBridge::opcUpdater

protected

Definition at line 254 of file module.h.

◆ period

double IOL2OPCBridge::period

protected

Definition at line 264 of file module.h.

◆ presence_timeout

double IOL2OPCBridge::presence_timeout

protected

Definition at line 271 of file module.h.

◆ robot_area_x_bounds

Vector IOL2OPCBridge::robot_area_x_bounds

protected

Yarp Vector of min, max bounding of robot region in x-axis.

Definition at line 295 of file module.h.

◆ robot_area_y_bounds

Vector IOL2OPCBridge::robot_area_y_bounds

protected

Yarp Vector of min, max bounding of robot region in y-axis.

Definition at line 296 of file module.h.

◆ rpcClassifier

RpcClient IOL2OPCBridge::rpcClassifier

protected

rpc client port to send requests to himrepClassifier

Definition at line 236 of file module.h.

◆ rpcGet3D

RpcClient IOL2OPCBridge::rpcGet3D

protected

rpc client port to send requests to SFM

Definition at line 237 of file module.h.

◆ rpcGetBlobPoints

RpcClient IOL2OPCBridge::rpcGetBlobPoints

protected

rpc client port to send requests to lbpExtract and receive all points of a blob

Definition at line 240 of file module.h.

◆ rpcGetSPQ

RpcClient IOL2OPCBridge::rpcGetSPQ

protected

rpc client port to send requests to superquadric-model and receive superquadric parameters

Definition at line 239 of file module.h.

◆ rpcPort

RpcServer IOL2OPCBridge::rpcPort

protected

rpc server to receive user request

Definition at line 235 of file module.h.

◆ rtLocalization

RtLocalization IOL2OPCBridge::rtLocalization

protected

Definition at line 253 of file module.h.

◆ shared_area_x_bounds

Vector IOL2OPCBridge::shared_area_x_bounds

protected

Yarp Vector of min, max bounding of shared region in x-axis.

Definition at line 297 of file module.h.

◆ shared_area_y_bounds

Vector IOL2OPCBridge::shared_area_y_bounds

protected

Yarp Vector of min, max bounding of shared region in y-axis.

Definition at line 298 of file module.h.

◆ skim_blobs_x_bounds

Vector IOL2OPCBridge::skim_blobs_x_bounds

protected

Yarp Vector of min, max bounding in x-axis to reduce the blob detection.

Definition at line 289 of file module.h.

◆ skim_blobs_y_bounds

Vector IOL2OPCBridge::skim_blobs_y_bounds

protected

Yarp Vector of min, max bounding in y-axis to reduce the blob detection.

Definition at line 290 of file module.h.

◆ state

Bridge::State IOL2OPCBridge::state

protected

Definition at line 276 of file module.h.

◆ tracker_min_blob_size

VectorOf<int> IOL2OPCBridge::tracker_min_blob_size

protected

minimum size of tracker blob

Definition at line 274 of file module.h.

◆ tracker_timeout

double IOL2OPCBridge::tracker_timeout

protected

Definition at line 273 of file module.h.

◆ tracker_type

string IOL2OPCBridge::tracker_type

protected

Definition at line 272 of file module.h.

◆ useSPQ

bool IOL2OPCBridge::useSPQ

protected

boolean flag to enable/disable using Superquadric-model for object pose and size estimation

Definition at line 268 of file module.h.

◆ verbose

bool IOL2OPCBridge::verbose

protected

Definition at line 265 of file module.h.

Namespaces

Classes

Detailed Description

Description

Parameters

Input Ports

Output Ports

Services

Class Documentation

◆ IOLObject

Public Member Functions

Protected Types

Protected Attributes

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ IOLObject()

Member Function Documentation

◆ filt()

◆ heartBeat()

◆ is_tracking()

◆ isDead()

◆ latchBBox()

◆ prepare()

◆ track()

Member Data Documentation

◆ filterDim

◆ filterPos

◆ init_filters

◆ presenceTimer

◆ presenceTmo

◆ tracker

◆ trackerResult

◆ trackerState

◆ trackerTimer

◆ trackerTmo

◆ trackerType

◆ IOL2OPCBridge

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ acquireImage()

◆ attach()

◆ calibPosition()

◆ change_name()

◆ classify()

◆ close()

◆ configure()

◆ doLocalization()

◆ drawBlobs()

◆ drawScoresHistogram()

◆ findClosestBlob() [1/2]

◆ findClosestBlob() [2/2]

◆ findName()

◆ get3DPosition()

◆ get3DPositionAndDimensions()

◆ get_object_persistence()

◆ getBlobCOG()

◆ getBlobPoints()

◆ getBlobs()

◆ getClickPosition()

◆ getPeriod()

◆ getReachableArea()

◆ getSuperQuadric()

◆ interruptModule()

◆ pause()

◆ remove_all()

◆ remove_object()

◆ resume()

◆ rotate()

◆ set_object_persistence()

◆ setBounds()

◆ skimBlobs()

◆ thresBBox()

◆ train()

◆ train_object()

◆ updateModule()

◆ updateOPC()