CoFusionProcessor Class Reference

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< PropertyUserPtrgetAdditionalPropertyUsers () const
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class ProxyType >
ProxyType getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Get a proxy whose name is specified by the given property. More...
 
template<class ProxyType >
void getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 
template<class TopicProxyType >
TopicProxyType getTopicFromProperty (const std::string &propertyName)
 Get a topic proxy whose name is specified by the given property. More...
 
template<class TopicProxyType >
void getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
 
void initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
 initializes the properties of this component. More...
 
void injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
 
void offeringTopicFromProperty (const std::string &propertyName)
 Offer a topic whose name is specified by the given property. More...
 
virtual void preOnConnectComponent () override
 
virtual void preOnInitComponent () override
 
bool usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
 Use a proxy whose name is specified by the given property. More...
 
void usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
 Use a topic whose name is specified by the given property. More...
 
- Public Member Functions inherited from ManagedIceObject
void enableProfiler (bool enable)
 setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...
 
std::string generateSubObjectName (const std::string &subObjectName)
 Generates a unique name for a sub object from a general name. More...
 
ArmarXManagerPtr getArmarXManager () const
 Returns the ArmarX manager used to add and remove components. More...
 
ManagedIceObjectConnectivity getConnectivity () const
 Retrieve connectivity of the object (topcis as well as proxies) More...
 
IceManagerPtr getIceManager () const
 Returns the IceManager. More...
 
VariantBasePtr getMetaInfo (const std::string &id)
 
StringVariantBaseMap getMetaInfoMap () const
 
std::string getName () const
 Retrieve name of object. More...
 
Ice::ObjectAdapterPtr getObjectAdapter () const
 Returns object's Ice adapter. More...
 
ArmarXObjectSchedulerPtr getObjectScheduler () const
 
PeriodicTaskPtr getPeriodicTask (const std::string &name)
 
Profiler::ProfilerPtr getProfiler () const
 getProfiler returns an instance of armarx::Profiler More...
 
template<class ProxyTarg , class... Args>
void getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyType >
ProxyType getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Retrieves a proxy object. More...
 
template<class ProxyTarg , class... Args>
void getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
 Assigns a proxy to proxy. More...
 
Ice::ObjectPrx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 Returns the proxy of this object (optionally it waits for the proxy) More...
 
template<class Prx >
Prx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 
template<class ProxyType >
void getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Overload to allow using string literals as name (solve ambiguous overload). More...
 
template<class Prx >
void getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
 
int getState () const
 Retrieve current state of the ManagedIceObject. More...
 
template<class TopicProxyType >
TopicProxyType getTopic (const std::string &name)
 Returns a proxy of the specified topic. More...
 
template<class TopicProxyType >
void getTopic (TopicProxyType &topicProxy, const std::string &name)
 Assigns a proxy of the specified topic to topicProxy. More...
 
std::vector< std::string > getUnresolvedDependencies () const
 returns the names of all unresolved dependencies More...
 
 ManagedIceObject (ManagedIceObject const &other)
 
void offeringTopic (const std::string &name)
 Registers a topic for retrival after initialization. More...
 
void preambleGetTopic (std::string const &name)
 
void setMetaInfo (const std::string &id, const VariantBasePtr &value)
 Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...
 
void startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
 
bool stopPeriodicTask (const std::string &name)
 
bool unsubscribeFromTopic (const std::string &name)
 Unsubscribe from a topic. More...
 
bool usingProxy (const std::string &name, const std::string &endpoints="")
 Registers a proxy for retrieval after initialization and adds it to the dependency list. More...
 
void usingTopic (const std::string &name, bool orderedPublishing=false)
 Registers a proxy for subscription after initialization. More...
 
void waitForObjectScheduler ()
 Waits until the ObjectScheduler could resolve all dependencies. More...
 
void waitForProxy (std::string const &name, bool addToDependencies)
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds. More...
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 
- Public Member Functions inherited from PropertyUser
std::vector< std::string > getComponentProxyNames ()
 
Ice::PropertiesPtr getIceProperties () const
 Returns the set of Ice properties. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 Property creation and retrieval. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 Hack to allow using getProperty in const-modified methods. More...
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class T >
std::vector< TgetPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
template<class ContainerT >
void getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
PropertyDefinitionsPtr getPropertyDefinitions ()
 Returns the component's property definition container. More...
 
std::vector< std::string > getSubscribedTopicNames ()
 
std::vector< std::string > getTopicProxyNames ()
 
bool hasProperty (const std::string &name)
 
 PropertyUser ()
 
virtual void setIceProperties (Ice::PropertiesPtr properties)
 Sets the Ice properties. More...
 
bool tryAddProperty (const std::string &propertyName, const std::string &value)
 
virtual void updateIceProperties (const std::map< std::string, std::string > &changes)
 
void updateProperties ()
 
void updateProxies (IceManagerPtr)
 
 ~PropertyUser () override
 
- 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 LogSenderPtrgetLogSender () 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, ImageProviderInfoimageProviderInfoMap
 
std::shared_mutex imageProviderInfoMutex
 
armarx::PeriodicTask< ImageProcessor >::pointer_type processorTask
 
IceInternal::Handle< ResultImageProviderresultImageProvider
 
bool startProcessorTask = true
 
std::map< std::string, ImageTransferStatsstatistics
 
std::mutex statisticsMutex
 
ImageProviderMap usedImageProviders
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 
- 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
ppPointCloudBuffersPoint 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

◆ 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
argcnumber of filtered command line arguments
argvfiltered 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
framesPerSecondcapturing 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: