Brief description of class MaskFilterPointCloudProcessor. More...

#include <VisionX/components/pointcloud_processor/MaskFilterPointCloudProcessor/MaskFilterPointCloudProcessor.h>

Inheritance diagram for MaskFilterPointCloudProcessor:

Public Member Functions
std::string	getDefaultName () const 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 PointCloudProcessor
template<typename PointT >
void	enableResultPointCloudForInputProvider (const std::string &inputProviderName, const std::string &resultProviderName="")

void	enableResultPointClouds (std::string resultProviderName, size_t shmCapacity, PointContentType pointContentType)

template<typename PointT >
void	enableResultPointClouds (std::string resultProviderName="")
	Enables visualization. More...

MetaPointCloudFormatPtr	getPointCloudFormat (std::string providerName)

std::string	getPointCloudFrame (const std::string &providerName, const std::string &defaultFrame="")
	Get the reference frame of the point cloud by given provider. More...

PointCloudProviderInfo	getPointCloudProvider (bool waitForProxy=false)

PointCloudProviderInfo	getPointCloudProvider (std::string name, bool waitForProxy=false)
	Select an PointCloudProvider. More...

std::vector< std::string >	getPointCloudProviderNames () const
	Get the names of providers for which `usingPointCloudProvider()` has been called. More...

template<typename PointCloudPtrT >
int	getPointClouds (const PointCloudPtrT &pointCloudPtr)
	Poll PointClouds from provider. More...

template<typename PointCloudPtrT >
bool	getPointClouds (std::string providerName, const PointCloudPtrT &pointClouds)
	Poll PointClouds from provider. More...

PointCloudTransferStats	getPointCloudTransferStats (std::string providerName, bool resetStats=false)
	Retrieve statistics for a connection to an PointCloudProvider. More...

bool	isPointCloudProviderKnown (const std::string &providerName) const
	Indicate whether the given name identifies a known point cloud provider. More...

bool	pointCloudHasNewData (std::string providerName)
	Returns current status for the given point cloud. More...

template<typename PointCloudPtrT >
void	provideResultPointClouds (const PointCloudPtrT &pointClouds, std::string providerName="")
	sends result PointClouds for visualization More...

template<typename PointCloudPtrT >
void	provideResultPointClouds (const std::string &providerName, const PointCloudPtrT &pointClouds)

void	releasePointCloudProvider (std::string providerName)
	Removes topic subscription and provider proxy dependency to release a point cloud provider. More...

void	usingPointCloudProvider (std::string providerName)
	Registers a delayed topic subscription and a delayed provider proxy retrieval which will be available on the start of the component. More...

void	usingPointCloudProviderFromProperty (const std::string &prop)

bool	waitForPointClouds (const std::string &providerName, int milliseconds=1000)
	Wait for new PointClouds. More...

bool	waitForPointClouds (int milliseconds=1000)
	Wait for new PointClouds. More...

Protected Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

std::pair< float, float >	maskImageProviderFocalLength () const

void	onConnectPointCloudAndImageProcessor () override
	Implement this method in your PointCloudAndImageProcessor in order execute parts when the component is fully initialized and about to run. More...

void	onDisconnectPointCloudAndImageProcessor () override
	Implement this method in the PointCloudAndImageProcessor in order to execute parts when the component looses network connectivity. More...

void	onExitPointCloudAndImageProcessor () override
	Exit the ImapeProcessor component. More...

void	onInitPointCloudAndImageProcessor () override
	Setup the vision component. More...

template<typename PointType >
void	process ()
	Process the vision component. More...

void	process () override
	Process the vision component. More...

std::array< float, 3 >	uvz2xyz (int u, int v, float z, float fx, float fy) const

std::array< std::int64_t, 2 >	xyz2uv (float x, float y, float z, float fx, float fy) const

Protected Member Functions inherited from PointCloudAndImageProcessor
template<typename PointT >
void	enableResultImagesAndPointClouds (std::string resultProviderName, int numberImages, ImageDimension imageDimension, ImageType imageType)

void	onConnectComponent () override

void	onConnectImageProcessor () override
	Implement this method in the ImageProcessor in order execute parts when the component is fully initialized and about to run. More...

void	onConnectPointCloudProcessor () override
	Implement this method in the PointCloudProcessor in order execute parts when the component is fully initialized and about to run. More...

void	onDisconnectComponent () override

void	onDisconnectPointCloudProcessor () override
	Implement this method in the PointCloudProcessor in order execute parts when the component looses network connectivity. More...

void	onExitComponent () override

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

void	onExitPointCloudProcessor () override
	Exit the ImapeProcessor component. More...

void	onInitComponent () override

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

void	onInitPointCloudProcessor () override
	Setup the vision component. 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

virtual void	onDisconnectImageProcessor ()
	Implement this method in the ImageProcessor in order execute parts when the component looses network connectivity. More...

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 PointCloudProcessor
void	reportPointCloudAvailable (const std::string &providerName, const Ice::Current &c=Ice::emptyCurrent) override
	Listener callback function. More...

virtual void	runProcessor ()

Protected Attributes
std::atomic< std::uint8_t >	_blueHi

std::atomic< std::uint8_t >	_blueLo

std::mutex	_cloudMutex

DebugDrawerInterfacePrx	_debugDrawerTopic

std::string	_debugDrawerTopicName

std::atomic_bool	_flipX {false}

std::atomic_bool	_flipY {false}

std::atomic< float >	_focalLengthAdjustment

std::atomic< std::uint8_t >	_greenHi

std::atomic< std::uint8_t >	_greenLo

std::atomic< std::int64_t >	_guiParamUpdated {false}

RemoteGui::TabProxy	_guiTab

SimplePeriodicTask ::pointer_type	_guiTask

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	_inputCloud

VirtualRobot::RobotPtr	_localRobot

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	_maskedCloud

visionx::ImageProviderInterfacePrx	_maskImageProvider

float	_maskImageProviderFocalLengthX

float	_maskImageProviderFocalLengthY

std::vector< visionx::CByteImageUPtr >	_maskImageProviderImageOwner

std::vector< void * >	_maskImageProviderImages

visionx::ImageProviderInfo	_maskImageProviderInfo

std::string	_maskImageProviderName

std::string	_maskImageProviderRefFrame

std::atomic_bool	_maskMatchOneRangeInsteadOfAll {false}

std::atomic< float >	_maskZRotation

bool	_newMaskImage {false}

bool	_newPointCloud {false}

std::atomic< std::int64_t >	_offsetX

std::atomic< std::int64_t >	_offsetY

visionx::PointCloudProviderInterfacePrx	_pointCloudProvider

visionx::PointCloudProviderInfo	_pointCloudProviderInfo

std::string	_pointCloudProviderName

std::string	_pointCloudProviderRefFrame

std::string	_pointCloudReportFrame

std::mutex	_pointCloudReportFrameMutex

std::atomic< std::uint8_t >	_redHi

std::atomic< std::uint8_t >	_redLo

RemoteGuiInterfacePrx	_remoteGui

std::string	_remoteGuiName

RobotStateComponentInterfacePrx	_robotStateComponent

std::string	_robotStateComponentName

std::atomic_bool	_syncRobotWithTimestamp {false}

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 PointCloudProcessor
bool	automaticConversion

FPSCounter	fpsCounter

float	frameRate

std::map< std::string, PointCloudProviderInfo >	pointCloudProviderInfoMap

std::shared_mutex	pointCloudProviderInfoMutex

armarx::RunningTask< PointCloudProcessor >::pointer_type	processorTask

std::map< std::string, IceInternal::Handle< ResultPointCloudProvider > >	resultPointCloudProviders

std::shared_mutex	resultProviderMutex

std::map< std::string, PointCloudTransferStats >	statistics

std::mutex	statisticsMutex

PointCloudProviderMap	usedPointCloudProviders

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 Types inherited from PointCloudProcessor
using	PointCloudProviderMap = std::map< std::string, armarx::IceSharedMemoryConsumer< unsigned char, MetaPointCloudFormat >::pointer_type >

Detailed Description

Brief description of class MaskFilterPointCloudProcessor.

Detailed description of class MaskFilterPointCloudProcessor.

Definition at line 86 of file MaskFilterPointCloudProcessor.h.

Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 386 of file MaskFilterPointCloudProcessor.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

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

Implements ManagedIceObject.

Definition at line 93 of file MaskFilterPointCloudProcessor.h.

◆ maskImageProviderFocalLength()

std::pair< float, float > maskImageProviderFocalLength ( ) const

protected

Definition at line 336 of file MaskFilterPointCloudProcessor.cpp.

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◆ onConnectPointCloudAndImageProcessor()

void onConnectPointCloudAndImageProcessor ( )

overrideprotectedvirtual

Implement this method in your PointCloudAndImageProcessor in order execute parts when the component is fully initialized and about to run.

Implements PointCloudAndImageProcessor.

Definition at line 89 of file MaskFilterPointCloudProcessor.cpp.

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◆ onDisconnectPointCloudAndImageProcessor()

void onDisconnectPointCloudAndImageProcessor ( )

overrideprotectedvirtual

Implement this method in the PointCloudAndImageProcessor in order to execute parts when the component looses network connectivity.

Reimplemented from PointCloudAndImageProcessor.

Definition at line 329 of file MaskFilterPointCloudProcessor.cpp.

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◆ onExitPointCloudAndImageProcessor()

void onExitPointCloudAndImageProcessor ( )

inlineoverrideprotectedvirtual

Exit the ImapeProcessor component.

Implement this method in order to clean up the PointCloudAndImageProcessor

Implements PointCloudAndImageProcessor.

Definition at line 104 of file MaskFilterPointCloudProcessor.h.

◆ onInitPointCloudAndImageProcessor()

void onInitPointCloudAndImageProcessor ( )

overrideprotectedvirtual

Setup the vision component.

Implement this method in your PointCloudAndImageProcessor in order to setup its parameters. Use this for the registration of adapters and subscription to topics

Implements PointCloudAndImageProcessor.

Definition at line 64 of file MaskFilterPointCloudProcessor.cpp.

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◆ process() [1/2]

void process

protectedvirtual

Process the vision component.

The main loop of the PointCloudAndImageProcessor to be implemented in the subclass. Do not block this method. One process should execute exactly one processing step.

Reimplemented from PointCloudAndImageProcessor.

Definition at line 393 of file MaskFilterPointCloudProcessor.cpp.

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◆ process() [2/2]

void process ( )

overrideprotectedvirtual

Process the vision component.

The main loop of the PointCloudAndImageProcessor to be implemented in the subclass. Do not block this method. One process should execute exactly one processing step.

Reimplemented from PointCloudAndImageProcessor.

Definition at line 59 of file MaskFilterPointCloudProcessor.cpp.

◆ uvz2xyz()

std::array< float, 3 > uvz2xyz	(	int	u,
		int	v,
		float	z,
		float	fx,
		float	fy
	)		const

protected

Definition at line 341 of file MaskFilterPointCloudProcessor.cpp.

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◆ xyz2uv()

std::array< std::int64_t, 2 > xyz2uv	(	float	x,
		float	y,
		float	z,
		float	fx,
		float	fy
	)		const

protected

Definition at line 363 of file MaskFilterPointCloudProcessor.cpp.

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Member Data Documentation

◆ _blueHi

std::atomic<std::uint8_t> _blueHi

protected

Definition at line 132 of file MaskFilterPointCloudProcessor.h.

◆ _blueLo

std::atomic<std::uint8_t> _blueLo

protected

Definition at line 131 of file MaskFilterPointCloudProcessor.h.

◆ _cloudMutex

std::mutex _cloudMutex

protected

Definition at line 151 of file MaskFilterPointCloudProcessor.h.

◆ _debugDrawerTopic

DebugDrawerInterfacePrx _debugDrawerTopic

protected

Definition at line 123 of file MaskFilterPointCloudProcessor.h.

◆ _debugDrawerTopicName

std::string _debugDrawerTopicName

protected

Definition at line 122 of file MaskFilterPointCloudProcessor.h.

◆ _flipX

std::atomic_bool _flipX {false}

protected

Definition at line 139 of file MaskFilterPointCloudProcessor.h.

◆ _flipY

std::atomic_bool _flipY {false}

protected

Definition at line 140 of file MaskFilterPointCloudProcessor.h.

◆ _focalLengthAdjustment

std::atomic<float> _focalLengthAdjustment

protected

Definition at line 135 of file MaskFilterPointCloudProcessor.h.

◆ _greenHi

std::atomic<std::uint8_t> _greenHi

protected

Definition at line 134 of file MaskFilterPointCloudProcessor.h.

◆ _greenLo

std::atomic<std::uint8_t> _greenLo

protected

Definition at line 133 of file MaskFilterPointCloudProcessor.h.

◆ _guiParamUpdated

std::atomic<std::int64_t> _guiParamUpdated {false}

protected

Definition at line 144 of file MaskFilterPointCloudProcessor.h.

◆ _guiTab

RemoteGui::TabProxy _guiTab

protected

Definition at line 127 of file MaskFilterPointCloudProcessor.h.

◆ _guiTask

SimplePeriodicTask ::pointer_type _guiTask

protected

Definition at line 126 of file MaskFilterPointCloudProcessor.h.

◆ _inputCloud

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr _inputCloud

protected

Definition at line 153 of file MaskFilterPointCloudProcessor.h.

◆ _localRobot

VirtualRobot::RobotPtr _localRobot

protected

Definition at line 119 of file MaskFilterPointCloudProcessor.h.

◆ _maskedCloud

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr _maskedCloud

protected

Definition at line 152 of file MaskFilterPointCloudProcessor.h.

◆ _maskImageProvider

visionx::ImageProviderInterfacePrx _maskImageProvider

protected

Definition at line 157 of file MaskFilterPointCloudProcessor.h.

◆ _maskImageProviderFocalLengthX

float _maskImageProviderFocalLengthX

protected

Definition at line 161 of file MaskFilterPointCloudProcessor.h.

◆ _maskImageProviderFocalLengthY

float _maskImageProviderFocalLengthY

protected

Definition at line 162 of file MaskFilterPointCloudProcessor.h.

◆ _maskImageProviderImageOwner

std::vector<visionx::CByteImageUPtr> _maskImageProviderImageOwner

protected

Definition at line 158 of file MaskFilterPointCloudProcessor.h.

◆ _maskImageProviderImages

std::vector<void*> _maskImageProviderImages

protected

Definition at line 159 of file MaskFilterPointCloudProcessor.h.

◆ _maskImageProviderInfo

visionx::ImageProviderInfo _maskImageProviderInfo

protected

Definition at line 156 of file MaskFilterPointCloudProcessor.h.

◆ _maskImageProviderName

std::string _maskImageProviderName

protected

Definition at line 155 of file MaskFilterPointCloudProcessor.h.

◆ _maskImageProviderRefFrame

std::string _maskImageProviderRefFrame

protected

Definition at line 160 of file MaskFilterPointCloudProcessor.h.

◆ _maskMatchOneRangeInsteadOfAll

std::atomic_bool _maskMatchOneRangeInsteadOfAll {false}

protected

Definition at line 141 of file MaskFilterPointCloudProcessor.h.

◆ _maskZRotation

std::atomic<float> _maskZRotation

protected

Definition at line 136 of file MaskFilterPointCloudProcessor.h.

◆ _newMaskImage

bool _newMaskImage {false}

protected

Definition at line 164 of file MaskFilterPointCloudProcessor.h.

◆ _newPointCloud

bool _newPointCloud {false}

protected

Definition at line 165 of file MaskFilterPointCloudProcessor.h.

◆ _offsetX

std::atomic<std::int64_t> _offsetX

protected

Definition at line 142 of file MaskFilterPointCloudProcessor.h.

◆ _offsetY

std::atomic<std::int64_t> _offsetY

protected

Definition at line 143 of file MaskFilterPointCloudProcessor.h.

◆ _pointCloudProvider

visionx::PointCloudProviderInterfacePrx _pointCloudProvider

protected

Definition at line 148 of file MaskFilterPointCloudProcessor.h.

◆ _pointCloudProviderInfo

visionx::PointCloudProviderInfo _pointCloudProviderInfo

protected

Definition at line 147 of file MaskFilterPointCloudProcessor.h.

◆ _pointCloudProviderName

std::string _pointCloudProviderName

protected

Definition at line 146 of file MaskFilterPointCloudProcessor.h.

◆ _pointCloudProviderRefFrame

std::string _pointCloudProviderRefFrame

protected

Definition at line 149 of file MaskFilterPointCloudProcessor.h.

◆ _pointCloudReportFrame

std::string _pointCloudReportFrame

protected

Definition at line 138 of file MaskFilterPointCloudProcessor.h.

◆ _pointCloudReportFrameMutex

std::mutex _pointCloudReportFrameMutex

protected

Definition at line 137 of file MaskFilterPointCloudProcessor.h.

◆ _redHi

std::atomic<std::uint8_t> _redHi

protected

Definition at line 130 of file MaskFilterPointCloudProcessor.h.

◆ _redLo

std::atomic<std::uint8_t> _redLo

protected

Definition at line 129 of file MaskFilterPointCloudProcessor.h.

◆ _remoteGui

RemoteGuiInterfacePrx _remoteGui

protected

Definition at line 125 of file MaskFilterPointCloudProcessor.h.

◆ _remoteGuiName

std::string _remoteGuiName

protected

Definition at line 124 of file MaskFilterPointCloudProcessor.h.

◆ _robotStateComponent

RobotStateComponentInterfacePrx _robotStateComponent

protected

Definition at line 118 of file MaskFilterPointCloudProcessor.h.

◆ _robotStateComponentName

std::string _robotStateComponentName

protected

Definition at line 117 of file MaskFilterPointCloudProcessor.h.

◆ _syncRobotWithTimestamp

std::atomic_bool _syncRobotWithTimestamp {false}

protected

Definition at line 120 of file MaskFilterPointCloudProcessor.h.

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

VisionX/components/pointcloud_processor/MaskFilterPointCloudProcessor/MaskFilterPointCloudProcessor.h
VisionX/components/pointcloud_processor/MaskFilterPointCloudProcessor/MaskFilterPointCloudProcessor.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ maskImageProviderFocalLength()

◆ onConnectPointCloudAndImageProcessor()

◆ onDisconnectPointCloudAndImageProcessor()

◆ onExitPointCloudAndImageProcessor()

◆ onInitPointCloudAndImageProcessor()

◆ process() [1/2]

◆ process() [2/2]

◆ uvz2xyz()

◆ xyz2uv()

Member Data Documentation

◆ _blueHi

◆ _blueLo

◆ _cloudMutex

◆ _debugDrawerTopic

◆ _debugDrawerTopicName

◆ _flipX

◆ _flipY

◆ _focalLengthAdjustment

◆ _greenHi

◆ _greenLo

◆ _guiParamUpdated

◆ _guiTab

◆ _guiTask

◆ _inputCloud

◆ _localRobot

◆ _maskedCloud

◆ _maskImageProvider

◆ _maskImageProviderFocalLengthX

◆ _maskImageProviderFocalLengthY

◆ _maskImageProviderImageOwner

◆ _maskImageProviderImages

◆ _maskImageProviderInfo

◆ _maskImageProviderName

◆ _maskImageProviderRefFrame

◆ _maskMatchOneRangeInsteadOfAll

◆ _maskZRotation

◆ _newMaskImage

◆ _newPointCloud

◆ _offsetX

◆ _offsetY

◆ _pointCloudProvider

◆ _pointCloudProviderInfo

◆ _pointCloudProviderName

◆ _pointCloudProviderRefFrame

◆ _pointCloudReportFrame

◆ _pointCloudReportFrameMutex

◆ _redHi

◆ _redLo

◆ _remoteGui

◆ _remoteGuiName

◆ _robotStateComponent

◆ _robotStateComponentName

◆ _syncRobotWithTimestamp