Brief description of class CoFusionProcessor. More...

#include <VisionX/components/pointcloud_provider/CoFusionProcessor/CoFusionProcessor.h>

Inheritance diagram for CoFusionProcessor:

Public Member Functions
std::string	getDefaultName () const override

virtual void	startCaptureForNumFrames (Ice::Int numFrames, const Ice::Current &c=Ice::emptyCurrent) 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

Public Member Functions inherited from CapturingPointCloudProvider
void	changeFrameRate (Ice::Float framesPerSecond, const Ice::Current &c=Ice::emptyCurrent) override
	set a new frame rate More...

bool	isCaptureEnabled (const Ice::Current &c=Ice::emptyCurrent) override

void	startCapture (const Ice::Current &c=Ice::emptyCurrent) override
	Starts point cloud capturing. More...

void	startCaptureForNumFrames (int numFrames, const Ice::Current &c=Ice::emptyCurrent) override
	Starts point cloud capturing. More...

void	stopCapture (const Ice::Current &c=Ice::emptyCurrent) override
	Stops point cloud capturing. More...

Public Member Functions inherited from PointCloudProvider
void	enablePointCloudVisualization (bool enable, bool preferRGB, const Ice::Current &c=Ice::emptyCurrent)

armarx::Blob	getPointCloud (MetaPointCloudFormatPtr &info, const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve point clouds via Ice. More...

MetaPointCloudFormatPtr	getPointCloudFormat (const Ice::Current &c=Ice::emptyCurrent) override
	Returns the point cloud format info struct via Ice. More...

bool	hasSharedMemorySupport (const Ice::Current &c=Ice::emptyCurrent) override

Protected Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

virtual bool	doCapture () override
	Main capturing function. More...

virtual visionx::MetaPointCloudFormatPtr	getDefaultPointCloudFormat () override
	default point cloud format used to initialize shared memory More...

virtual void	onConnectComponent () override

virtual void	onConnectImageProcessor () override
	Allocates imageRgb and imageDepth and sets images[]. More...

virtual void	onDisconnectComponent () override
	Hook for subclass. More...

virtual void	onDisconnectImageProcessor () override
	Frees imageRgb and imageDepth. More...

virtual void	onExitCapturingPointCloudProvider () override
	This is called when the Component::onExitComponent() setup is called. More...

virtual void	onExitComponent () override

virtual void	onExitImageProcessor () override
	Exit the ImapeProcessor component. More...

void	onInactiveModel (std::shared_ptr< Model > model)

virtual void	onInitCapturingPointCloudProvider () override
	This is called when the Component::onInitComponent() is called. More...

virtual void	onInitComponent () override

virtual void	onInitImageProcessor () override
	Setup the vision component. More...

void	onNewModel (std::shared_ptr< Model > model)

virtual void	onStartCapture (float framesPerSecond) override
	This is called when the point cloud provider capturing has been started. More...

virtual void	onStopCapture () override
	This is called when the point cloud provider capturing has been stopped. More...

virtual void	process () override
	Performs the image processing. More...

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 Member Functions inherited from CapturingPointCloudProvider
virtual void	capture ()

ImageSyncMode	getPointCloudSyncMode ()
	Returns the point cloud sync mode. More...

void	onConnectPointCloudProvider () override

void	onExitPointCloudProvider () override

void	onInitPointCloudProvider () override

virtual void	onStartCapturingPointCloudProvider ()
	This is called when the Component::onConnectComponent() setup is called. More...

void	setPointCloudSyncMode (ImageSyncMode pointCloudSyncMode)
	Sets the point cloud synchronization mode. More...

Protected Member Functions inherited from PointCloudProvider
bool	isExiting () const
	Retrieve whether provider is exiting. More...

template<typename PointCloudPtrT >
void	providePointCloud (PointCloudPtrT pointCloudPtr)
	offer the new point cloud. More...

void	updateComponentMetaInfo (const MetaPointCloudFormatPtr &info)

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 >

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

Protected Attributes inherited from CapturingPointCloudProvider
std::atomic_bool	captureEnabled
	Indicates that capturing is enabled and running. More...

std::mutex	captureMutex
	mutex for capturing for proper exit More...

armarx::RunningTask< CapturingPointCloudProvider >::pointer_type	captureTask
	Capture thread. More...

FPSCounter	fpsCounter
	FPS manager. More...

float	frameRate
	Required frame rate. More...

int	numFramesToCapture
	Number of frames to capture. More...

ImageSyncMode	pointCloudSyncMode
	Point cloud synchronization information. More...

Protected Attributes inherited from PointCloudProvider
PointCloudProcessorInterfacePrx	pointCloudProcessorProxy
	Ice proxy of the point cloud processor interface. More...

Detailed Description

Brief description of class CoFusionProcessor.

Detailed description of class CoFusionProcessor.

Definition at line 131 of file CoFusionProcessor.h.

Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 573 of file CoFusionProcessor.cpp.

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◆ doCapture()

bool doCapture ( )

overrideprotectedvirtual

Main capturing function.

Parameters

ppPointCloudBuffers Point cloud pointer array where the captured point clouds need to be copied into

Implements CapturingPointCloudProvider.

Definition at line 459 of file CoFusionProcessor.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

Definition at line 140 of file CoFusionProcessor.h.

◆ getDefaultPointCloudFormat()

visionx::MetaPointCloudFormatPtr getDefaultPointCloudFormat ( )

overrideprotectedvirtual

default point cloud format used to initialize shared memory

Reimplemented from PointCloudProvider.

Definition at line 558 of file CoFusionProcessor.cpp.

◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: Component::onConnectComponent()

Reimplemented from PointCloudProvider.

Definition at line 147 of file CoFusionProcessor.cpp.

◆ onConnectImageProcessor()

void onConnectImageProcessor ( )

overrideprotectedvirtual

Allocates imageRgb and imageDepth and sets images[].

Implements ImageProcessor.

Definition at line 54 of file CoFusionProcessor.cpp.

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◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also: onConnectComponent

Reimplemented from PointCloudProvider.

Definition at line 203 of file CoFusionProcessor.cpp.

◆ onDisconnectImageProcessor()

void onDisconnectImageProcessor ( )

overrideprotectedvirtual

Frees imageRgb and imageDepth.

Reimplemented from ImageProcessor.

Definition at line 76 of file CoFusionProcessor.cpp.

◆ onExitCapturingPointCloudProvider()

void onExitCapturingPointCloudProvider ( )

overrideprotectedvirtual

This is called when the Component::onExitComponent() setup is called.

Implement this method in the PointCloudProvider in order clean up right before terminating.

Implements CapturingPointCloudProvider.

Definition at line 99 of file CoFusionProcessor.cpp.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also: Component::onExitComponent()

Reimplemented from PointCloudProvider.

Definition at line 209 of file CoFusionProcessor.cpp.

◆ onExitImageProcessor()

void onExitImageProcessor ( )

overrideprotectedvirtual

Exit the ImapeProcessor component.

Implement this method in order to clean up the ImageProcessor

Implements ImageProcessor.

Definition at line 88 of file CoFusionProcessor.cpp.

◆ onInactiveModel()

void onInactiveModel ( std::shared_ptr< Model > model )

protected

Definition at line 221 of file CoFusionProcessor.cpp.

◆ onInitCapturingPointCloudProvider()

void onInitCapturingPointCloudProvider ( )

overrideprotectedvirtual

This is called when the Component::onInitComponent() is called.

Implement this method in the PointCloudProvider in order to setup its parameters. Use this to set the Point cloud format.

Implements CapturingPointCloudProvider.

Definition at line 94 of file CoFusionProcessor.cpp.

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◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: Component::onInitComponent()

Reimplemented from PointCloudProvider.

Definition at line 105 of file CoFusionProcessor.cpp.

◆ onInitImageProcessor()

void onInitImageProcessor ( )

overrideprotectedvirtual

Setup the vision component.

Implement this method in the ImageProcessor in order to setup its parameters. Use this for the registration of adaptars and subscription to topics

Parameters

argc	number of filtered command line arguments
argv	filtered command line arguments

Implements ImageProcessor.

Definition at line 45 of file CoFusionProcessor.cpp.

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◆ onNewModel()

void onNewModel ( std::shared_ptr< Model > model )

protected

Definition at line 215 of file CoFusionProcessor.cpp.

◆ onStartCapture()

void onStartCapture ( float framesPerSecond )

overrideprotectedvirtual

This is called when the point cloud provider capturing has been started.

Implement this method in the PointCloudProvider in order to reset prvider's state.

Parameters

framesPerSecond capturing fps

Exceptions

visionx::PointCloudProviderResolutionNotSupportedException
visionx::PointCloudProviderFrameRateNotSupportedException
visionx::PointCloudProviderStartingCaptureFailedException

Implements CapturingPointCloudProvider.

Definition at line 445 of file CoFusionProcessor.cpp.

◆ onStopCapture()

void onStopCapture ( )

overrideprotectedvirtual

This is called when the point cloud provider capturing has been stopped.

Implement this method in the PointCloudProvider in order to clean up after stopping.

Implements CapturingPointCloudProvider.

Definition at line 455 of file CoFusionProcessor.cpp.

◆ process()

void process ( )

overrideprotectedvirtual

Performs the image processing.

Processes input images, constructs FrameData and calls CoFusion::processFrame().

This is the (only) thread that directly accesses cofusion. If cofusion is not allocated, it is initialized via initializeCoFusion().

Every <framesBetweenUpdates> frames, updateSurfelMaps() is called.

Implements ImageProcessor.

Definition at line 228 of file CoFusionProcessor.cpp.

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◆ startCaptureForNumFrames()

void startCaptureForNumFrames	(	Ice::Int	numFrames,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

overridevirtual

Definition at line 450 of file CoFusionProcessor.cpp.

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

VisionX/components/pointcloud_provider/CoFusionProcessor/CoFusionProcessor.h
VisionX/components/pointcloud_provider/CoFusionProcessor/CoFusionProcessor.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPropertyDefinitions()

◆ doCapture()

◆ getDefaultName()

◆ getDefaultPointCloudFormat()

◆ onConnectComponent()

◆ onConnectImageProcessor()

◆ onDisconnectComponent()

◆ onDisconnectImageProcessor()

◆ onExitCapturingPointCloudProvider()

◆ onExitComponent()

◆ onExitImageProcessor()

◆ onInactiveModel()

◆ onInitCapturingPointCloudProvider()

◆ onInitComponent()

◆ onInitImageProcessor()

◆ onNewModel()

◆ onStartCapture()

◆ onStopCapture()

◆ process()

◆ startCaptureForNumFrames()