Brief description of class AzureKinectPointCloudProvider. More...

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

Inheritance diagram for AzureKinectPointCloudProvider:

Public Types
using	CloudPointType = pcl::PointXYZRGBA

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Public Types inherited from DebugObserverComponentPluginUser
using	DebugObserverComponentPlugin = armarx::plugins::DebugObserverComponentPlugin

Public Member Functions
	AzureKinectPointCloudProvider ()

void	enableHumanPoseEstimation (const armarx::EnableHumanPoseEstimationInput &input, const Ice::Current &=Ice::emptyCurrent) override

std::string	getDefaultName () const override

std::vector< imrec::ChannelPreferences >	getImageRecordingChannelPreferences (const Ice::Current &) override

bool	getImagesAreUndistorted (const ::Ice::Current &c) override

std::string	getReferenceFrame (const Ice::Current &c) override

visionx::StereoCalibration	getStereoCalibration (const Ice::Current &c) override

void	setMaxDepthBodyTracking (int maxDepthInMM, const Ice::Current &=Ice::emptyCurrent) override

void	setWidthBodyTracking (int minXinPixel, int maxXinPixel, const Ice::Current &=Ice::emptyCurrent) 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

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

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 ImageProvider
armarx::Blob	getCompressedImagesAndMetaInfo (CompressionType, Ice::Int compressionQuality, armarx::MetaInfoSizeBasePtr &info, const Ice::Current &) override

ImageFormatInfo	getImageFormat (const Ice::Current &c=Ice::emptyCurrent) override
	Returns the entire image format info struct via Ice. More...

armarx::Blob	getImages (const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve images via Ice. More...

armarx::Blob	getImagesAndMetaInfo (armarx::MetaInfoSizeBasePtr &, const Ice::Current &) override

int	getNumberImages (const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve number of images handled by this provider. More...

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

Public Member Functions inherited from DebugObserverComponentPluginUser
	DebugObserverComponentPluginUser ()

const DebugObserverInterfacePrx &	getDebugObserver () const

plugins::DebugObserverComponentPlugin &	getDebugObserverComponentPlugin ()

void	removeAllDebugObserverChannels () const

void	removeDebugObserverChannel (const std::string &channelname) const

void	removeDebugObserverDatafield (const std::string &channelName, const std::string &datafieldName) const

void	sendDebugObserverBatch ()

void	setDebugObserverBatchModeEnabled (bool enable)

void	setDebugObserverChannel (const std::string &channelName, StringVariantBaseMap valueMap) const

template<class... Ts>
void	setDebugObserverDatafield (Ts &&...ts) const

Protected Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

std::function< void(armarx::Duration)>	createSwCallback (const std::string &description)

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

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

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

void	initializeTimestampOffset (const std::chrono::microseconds &k4a_device_timestamp_us)

void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	onConnectImageProvider () override
	This is called when the Component::onConnectComponent() setup is called. More...

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

void	onDisconnectImageProvider () override

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

void	onExitComponent () override
	Hook for subclass. More...

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

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

void	onInitComponent () override
	Pure virtual hook for the subclass. More...

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

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

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

void	runPointcloudPublishing ()

armarx::DateTime	timestampToArmarX (const std::chrono::microseconds &k4a_timestamp_us)

void	updateTimestampOffset (const std::chrono::microseconds &k4a_device_timestamp_us, const std::chrono::nanoseconds &k4a_system_timestamp_ns)

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)

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 ImageProvider
armarx::UnitExecutionState	getExecutionState (const Ice::Current &c) override

std::vector< imrec::ChannelPreferences >	getImageRecordingChannelPreferences (const Ice::Current &) override

imrec::Status	getImageRecordingStatus (const Ice::Current &) override

armarx::SharedMemoryScopedWriteLockPtr	getScopedWriteLock ()
	Retrieve scoped lock for writing to the memory. More...

void	imageRecordingRunningTask ()

void	init (const Ice::Current &c) override

bool	isExiting ()
	Retrieve whether provider is exiting. More...

void	onConnectComponent () override

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

void	onExitComponent () override

void	onInitComponent () override

void	provideImages (CByteImage **images, const IceUtil::Time &imageTimestamp=IceUtil::Time())
	send ByteImages. More...

void	provideImages (CFloatImage **images, const IceUtil::Time &imageTimestamp=IceUtil::Time())
	send FloatImages. More...

void	provideImages (const std::vector< CByteImageUPtr > &images, const IceUtil::Time &imageTimestamp=IceUtil::Time())

void	provideImages (void **inputBuffers, const IceUtil::Time &imageTimestamp=IceUtil::Time())
	send images raw. More...

void	recordImages (const IceUtil::Time &image_timestamp)

void	release (const Ice::Current &c) override

void	request (const Ice::Current &c) override

void	setImageFormat (ImageDimension imageDimension, ImageType imageType, BayerPatternType bayerPatternType=visionx::eBayerPatternRg)
	Sets the image basic format data. More...

void	setNumberImages (int numberImages)
	Sets the number of images on each capture. More...

void	start (const Ice::Current &c) override

bool	startImageRecording (const imrec::Config &cfg, const Ice::Current &) override

void	stop (const Ice::Current &c) override

bool	stopImageRecording (const Ice::Current &) override

void	updateTimestamp (const armarx::DateTime &timestamp, bool threadSafe=true)

void	updateTimestamp (Ice::Long timestamp, bool threadSafe=true)
	Updates the timestamp of the currently captured image. More...

void	updateTimestamp (IceUtil::Time timestamp, bool threadSafe=true)

Static Protected Member Functions
static std::pair< int, int >	GetColorDimensions (const k4a_color_resolution_t resolution)
	Returns the dimension of the color images that will be produced for a certain resolution. More...

static std::pair< int, int >	GetDepthDimensions (const k4a_depth_mode_t depth_mode)
	Returns the dimension of the depth images that will be produced for a certain resolution. More...

static std::string	VersionToString (const k4a_version_t &version)
	Creates a string from a k4a_version_t. More...

Additional Inherited Members
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 ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

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...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Protected Attributes inherited from ImageProvider
void **	imageBuffers
	Image buffer memory. More...

ImageProcessorInterfacePrx	imageProcessorProxy
	Ice proxy of the image processor interface. More...

armarx::IceSharedMemoryProvider< unsigned char >::pointer_type	sharedMemoryProvider
	shared memory provider More...

Detailed Description

Brief description of class AzureKinectPointCloudProvider.

Definition at line 91 of file AzureKinectPointCloudProvider.h.

Member Typedef Documentation

◆ CloudPointType

using CloudPointType = pcl::PointXYZRGBA

Definition at line 105 of file AzureKinectPointCloudProvider.h.

Constructor & Destructor Documentation

◆ AzureKinectPointCloudProvider()

AzureKinectPointCloudProvider ( )

Definition at line 1502 of file AzureKinectPointCloudProvider.cpp.

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Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 207 of file AzureKinectPointCloudProvider.cpp.

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◆ createSwCallback()

std::function< void(armarx::Duration)> createSwCallback ( const std::string & description )

protected

Definition at line 149 of file AzureKinectPointCloudProvider.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 595 of file AzureKinectPointCloudProvider.cpp.

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◆ enableHumanPoseEstimation()

void enableHumanPoseEstimation	(	const armarx::EnableHumanPoseEstimationInput &	input,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 1351 of file AzureKinectPointCloudProvider.cpp.

◆ GetColorDimensions()

static std::pair<int, int> GetColorDimensions ( const k4a_color_resolution_t resolution )

inlinestaticprotected

Returns the dimension of the color images that will be produced for a certain resolution.

Parameters

resolution The resolution that should be used for the color image.

Returns: Pair of width and height that color images will have.

Definition at line 195 of file AzureKinectPointCloudProvider.h.

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◆ getDefaultName()

std::string getDefaultName ( ) const

overridevirtual

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

Implements ManagedIceObject.

Definition at line 1202 of file AzureKinectPointCloudProvider.cpp.

◆ getDefaultPointCloudFormat()

MetaPointCloudFormatPtr getDefaultPointCloudFormat ( )

inlineoverrideprotectedvirtual

default point cloud format used to initialize shared memory

Reimplemented from PointCloudProvider.

Definition at line 170 of file AzureKinectPointCloudProvider.h.

◆ GetDepthDimensions()

static std::pair<int, int> GetDepthDimensions ( const k4a_depth_mode_t depth_mode )

inlinestaticprotected

Returns the dimension of the depth images that will be produced for a certain resolution.

Parameters

resolution The resolution that should be used for the depth image.

Returns: Pair of width and height that depth images will have.

Definition at line 223 of file AzureKinectPointCloudProvider.h.

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◆ getImageRecordingChannelPreferences()

std::vector< imrec::ChannelPreferences > getImageRecordingChannelPreferences ( const Ice::Current & )

override

Definition at line 1335 of file AzureKinectPointCloudProvider.cpp.

◆ getImagesAreUndistorted()

bool getImagesAreUndistorted ( const ::Ice::Current & c )

override

Definition at line 1323 of file AzureKinectPointCloudProvider.cpp.

◆ getReferenceFrame()

std::string getReferenceFrame ( const Ice::Current & c )

override

Definition at line 1329 of file AzureKinectPointCloudProvider.cpp.

◆ getStereoCalibration()

StereoCalibration getStereoCalibration ( const Ice::Current & c )

override

Definition at line 1238 of file AzureKinectPointCloudProvider.cpp.

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◆ hasSharedMemorySupport()

bool hasSharedMemorySupport ( const Ice::Current & c )

inlineoverrideprotected

Definition at line 164 of file AzureKinectPointCloudProvider.h.

◆ initializeTimestampOffset()

void initializeTimestampOffset ( const std::chrono::microseconds & k4a_device_timestamp_us )

protected

Definition at line 1487 of file AzureKinectPointCloudProvider.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also: onDisconnectComponent()

Implements ManagedIceObject.

Definition at line 1215 of file AzureKinectPointCloudProvider.cpp.

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◆ onConnectImageProvider()

void onConnectImageProvider ( )

overrideprotectedvirtual

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

Reimplemented from ImageProvider.

Definition at line 348 of file AzureKinectPointCloudProvider.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 ManagedIceObject.

Definition at line 1222 of file AzureKinectPointCloudProvider.cpp.

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◆ onDisconnectImageProvider()

void onDisconnectImageProvider ( )

overrideprotectedvirtual

Reimplemented from ImageProvider.

Definition at line 384 of file AzureKinectPointCloudProvider.cpp.

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◆ 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 418 of file AzureKinectPointCloudProvider.cpp.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

Hook for subclass.

Is called once the component terminates. Use for cleanup. Only called once.

Reimplemented from ManagedIceObject.

Definition at line 1231 of file AzureKinectPointCloudProvider.cpp.

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◆ onExitImageProvider()

void onExitImageProvider ( )

inlineoverrideprotectedvirtual

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

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

Implements ImageProvider.

Definition at line 155 of file AzureKinectPointCloudProvider.h.

◆ 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 411 of file AzureKinectPointCloudProvider.cpp.

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◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

Definition at line 1208 of file AzureKinectPointCloudProvider.cpp.

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◆ onInitImageProvider()

void onInitImageProvider ( )

overrideprotectedvirtual

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

Implement this method in the ImageProvider in order to setup its parameters. Use this to set the image format.

Implements ImageProvider.

Definition at line 278 of file AzureKinectPointCloudProvider.cpp.

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◆ 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 426 of file AzureKinectPointCloudProvider.cpp.

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◆ 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 586 of file AzureKinectPointCloudProvider.cpp.

◆ runPointcloudPublishing()

void runPointcloudPublishing ( )

protected

Definition at line 1081 of file AzureKinectPointCloudProvider.cpp.

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◆ setMaxDepthBodyTracking()

void setMaxDepthBodyTracking	(	int	maxDepthInMM,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 1385 of file AzureKinectPointCloudProvider.cpp.

◆ setWidthBodyTracking()

void setWidthBodyTracking	(	int	minXinPixel,
		int	maxXinPixel,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 1392 of file AzureKinectPointCloudProvider.cpp.

◆ timestampToArmarX()

armarx::DateTime timestampToArmarX ( const std::chrono::microseconds & k4a_timestamp_us )

protected

Definition at line 1471 of file AzureKinectPointCloudProvider.cpp.

◆ updateTimestampOffset()

void updateTimestampOffset	(	const std::chrono::microseconds &	k4a_device_timestamp_us,
		const std::chrono::nanoseconds &	k4a_system_timestamp_ns
	)

protected

Definition at line 1405 of file AzureKinectPointCloudProvider.cpp.

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◆ VersionToString()

static std::string VersionToString ( const k4a_version_t & version )

inlinestaticprotected

Creates a string from a k4a_version_t.

Parameters

version The verstion that should be transformed into a string.

Returns: The string representing the version.

Definition at line 249 of file AzureKinectPointCloudProvider.h.

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

VisionX/components/pointcloud_provider/AzureKinectPointCloudProvider/AzureKinectPointCloudProvider.h
VisionX/components/pointcloud_provider/AzureKinectPointCloudProvider/AzureKinectPointCloudProvider.cpp

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ CloudPointType

Constructor & Destructor Documentation

◆ AzureKinectPointCloudProvider()

Member Function Documentation

◆ createPropertyDefinitions()

◆ createSwCallback()

◆ doCapture()

◆ enableHumanPoseEstimation()

◆ GetColorDimensions()

◆ getDefaultName()

◆ getDefaultPointCloudFormat()

◆ GetDepthDimensions()

◆ getImageRecordingChannelPreferences()

◆ getImagesAreUndistorted()

◆ getReferenceFrame()

◆ getStereoCalibration()

◆ hasSharedMemorySupport()

◆ initializeTimestampOffset()

◆ onConnectComponent()

◆ onConnectImageProvider()

◆ onDisconnectComponent()

◆ onDisconnectImageProvider()

◆ onExitCapturingPointCloudProvider()

◆ onExitComponent()

◆ onExitImageProvider()

◆ onInitCapturingPointCloudProvider()

◆ onInitComponent()

◆ onInitImageProvider()

◆ onStartCapture()

◆ onStopCapture()

◆ runPointcloudPublishing()

◆ setMaxDepthBodyTracking()

◆ setWidthBodyTracking()

◆ timestampToArmarX()

◆ updateTimestampOffset()

◆ VersionToString()