Write your own Annotator

This tutorial assumes that the reader has created a robosherlock package, and already run the pipeline described in the first tutorial.

As described in the overview, analysis engines can be either primitive or aggregate. A primitive analysis engine is called an annotator. In the following the creation of a new primitive analysis engine will be described, followed by creating an aggregate AE that uses is.

Note

it is not required that all primitive analysis engines annotate a scene, but for simplicity we call individual experts annotators. E.g. primitive AEs can generate object hypotheses, or have I/O tasks

Create your annotator

Besides the implementation, it is mandatory in the UIM framework to have meta definitions of every component. A small script is available that makes creating new components a bit faster. Execute:

rosrun robosherlock rs_new_annotator rs_tutorial MyFirstAnnotator

which will create a new annotator called MyFirstAnnotator in the previously created ROS-package rs_tutorial. It creates an yaml meta file in descriptors/annotators and a source file in ./src. It also adds the necessary lines to your CMakeLists.txt:

rs_add_library(rs_myFirstAnnotator src/MyFirstAnnotator.cpp)
target_link_libraries(rs_myFirstAnnotator ${CATKIN_LIBRARIES})

Every component in RoboSherlock is a C++ library, that gets loaded during runtime. The implementation consists of a cpp file and a yaml descriptor.

The yaml descriptor

Confgiruations (meta definitions) of annotators are defined for every annotator in yaml files located in the <package_name>/descriptors/annotators folder. The annotator thatwe just created has the following configuration file:

annotator:
    name: MyFirstAnnotator
    implementation: rs_myFirstAnnotator
parameters:
    test_param: 0.01
capabilities:
    inputs: {}
    outputs: {}

The most important part of this configuration file is the implementation name. This is the name of a dynamic library that is the implementation of the annotator. All other parts of the configuration are optional, but this one is mandatory.

Tha param section defines configuration parameters that the annotator has. These can be of type string, float, int, boolean or arrays of. The last part can help define capabilities. This part is useful if we are using the pipeline planning and knowledge integration of the system, allowing users to set i/o constraints for annotators.

The cpp implementation

MyFirstAnnotator.cpp was generated in the src folder:

#include <uima/api.hpp>

#include <pcl/point_types.h>
//RS
#include <rs/types/all_types.h>
#include <rs/scene_cas.h>
#include <rs/utils/time.h>

using namespace uima;

class MyFirstAnnotator : public Annotator
{
private:
  float test_param;

public:

  TyErrorId initialize(AnnotatorContext &ctx)
  {
    outInfo("initialize");
    ctx.extractValue("test_param", test_param);
    return UIMA_ERR_NONE;
  }

  TyErrorId destroy()
  {
    outInfo("destroy");
    return UIMA_ERR_NONE;
  }

  TyErrorId process(CAS &tcas, ResultSpecification const &res_spec)
  {
    outInfo("process start");
    rs::StopWatch clock;
    rs::SceneCas cas(tcas);
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGBA>);
    outInfo("Test param =  " << test_param);
    cas.get(VIEW_CLOUD,*cloud_ptr);

    outInfo("Cloud size: " << cloud_ptr->points.size());
    outInfo("took: " << clock.getTime() << " ms.");
    return UIMA_ERR_NONE;
  }
};

// This macro exports an entry point that is used to create the annotator.
MAKE_AE(MyFirstAnnotator)

Implementation of an annotator extends the Annotator class of the uimacpp library. Annotator has several virtual methods defined out of which we are overriding the initialize, destroy and process functions. Since annotators get compiled into runtime libraries they must end with the MAKE_AE(<AnnotName>) macro, that exports the entry point.

The three methods that we overwrite implement the functionalities of the annotator:

  • initialize : gets called in the constructor of the class. Has the same functionalities as a constructor. We can read in the parameters defined in the xml descriptor here (in the tutorial code this is test_param).
  • destroy : It’s like a destructor of a class, e.g. deallocate memory, if needed.
  • process : this is where all the processing code goes. In the tutorial we convert the cas to the SceneCas, get the point cloud that we stored in it and display it’s size

Note

SceneCas is a wrapper for the uima::CAS class from uimacpp for conveniently setting and getting data.

You can now compile it with catkin_make or catkin build (we recommend using catkin-tools.

Add it to an AE and run

In the previous tutorial we copied over the demo.yaml to our poroject and renamed it to my_demo.yaml. Open it and add your new annotator to the pipeline by adding it to the fixed flow:

Run the pipeline as described in Running a pipeline in RoboSherlock. Look at the output in your terminal. There should be an output with the value of the test parameter, and the number of points in the point cloud.

Note

It is recommended to create you own launch file in the current package. Notice that you have to change the arguments of the ros node in the launch file in order to execute your new pipeline( from demo to my_demo)

Warning

The annotators execute in the order they are defined in the fixed flow. Since the demo annotator accesses point clouds it needs to be put after the ImagePreprocessor component, since this is the module that creates the point cloud from the depth and rgb images.

The output in the terminal should look like this:

MyFirstAnnotator.cpp(40)[process] process start
MyFirstAnnotator.cpp(44)[process] Test param =  0.01
MyFirstAnnotator.cpp(47)[process] Cloud size: 307200
MyFirstAnnotator.cpp(48)[process] took: 2.37502 ms.