CapturingImageProvider Class Referenceabstract

The CapturingImageProvider provides a callback function to trigger the capturing of images with different synchronization modes. More...

#include <VisionX/core/CapturingImageProvider.h>

+ Inheritance diagram for CapturingImageProvider:

Public Member Functions

void startCapture (float framesPerSecond, const Ice::Current &c=Ice::emptyCurrent) override
 Starts image capturing. More...
 
void stopCapture (const Ice::Current &c=Ice::emptyCurrent) override
 Stops image capturing. More...
 
- 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 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< 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...
 
virtual std::string getDefaultName () const =0
 Retrieve default name of component. 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
 

Protected Member Functions

virtual void capture ()
 
virtual bool capture (void **ppImageBuffers)=0
 Main capturing function. More...
 
ImageSyncMode getImageSyncMode ()
 Returns the image sync mode. More...
 
armarx::SharedMemoryScopedWriteLockPtr getScopedWriteLock ()
 Retrieve scoped lock for writing to the memory. More...
 
void onConnectImageProvider () override
 
virtual void onExitCapturingImageProvider ()=0
 This is called when the Component::onExitComponent() setup is called. More...
 
void onExitImageProvider () override
 
virtual void onInitCapturingImageProvider ()=0
 This is called when the Component::onInitComponent() is called. More...
 
void onInitImageProvider () override
 
virtual void onStartCapture (float framesPerSecond)=0
 This is called when the image provider capturing has been started. More...
 
virtual void onStartCapturingImageProvider ()
 This is called when the Component::onConnectComponent() setup is called. More...
 
virtual void onStopCapture ()=0
 This is called when the image provider capturing has been stopped. More...
 
void setImageSyncMode (ImageSyncMode imageSyncMode)
 Sets the image synchronization mode. More...
 
- 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...
 
virtual void onDisconnectImageProvider ()
 
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)
 
- 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...
 
PropertyDefinitionsPtr createPropertyDefinitions () override
 
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 Attributes

bool captureEnabled
 Indicates that capturing is enabled and running. More...
 
std::mutex captureMutex
 mutex for capturing for proper exit More...
 
armarx::RunningTask< CapturingImageProvider >::pointer_type captureTask
 Capture thread. More...
 
FPSCounter fpsCounter
 FPS manager. More...
 
float frameRate
 Required frame rate. More...
 
ImageSyncMode imageSyncMode
 Image synchronization information. More...
 
- 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...
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

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

Detailed Description

The CapturingImageProvider provides a callback function to trigger the capturing of images with different synchronization modes.

Definition at line 52 of file CapturingImageProvider.h.

Member Function Documentation

◆ capture() [1/2]

void capture ( )
protectedvirtual
See also
capture method issued by RunningTask

Definition at line 106 of file CapturingImageProvider.cpp.

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◆ capture() [2/2]

virtual bool capture ( void **  ppImageBuffers)
protectedpure virtual

◆ getImageSyncMode()

ImageSyncMode getImageSyncMode ( )
protected

Returns the image sync mode.

Definition at line 171 of file CapturingImageProvider.cpp.

◆ getScopedWriteLock()

armarx::SharedMemoryScopedWriteLockPtr getScopedWriteLock ( )
inlineprotected

Retrieve scoped lock for writing to the memory.

Returns
the scoped lock

Definition at line 152 of file CapturingImageProvider.h.

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◆ onConnectImageProvider()

void onConnectImageProvider ( )
overrideprotectedvirtual
See also
Component::onConnectComponent()

Reimplemented from ImageProvider.

Definition at line 81 of file CapturingImageProvider.cpp.

◆ onExitCapturingImageProvider()

virtual void onExitCapturingImageProvider ( )
protectedpure virtual

◆ onExitImageProvider()

void onExitImageProvider ( )
overrideprotectedvirtual
See also
Component::onExitComponent()

Implements ImageProvider.

Definition at line 92 of file CapturingImageProvider.cpp.

◆ onInitCapturingImageProvider()

virtual void onInitCapturingImageProvider ( )
protectedpure virtual

◆ onInitImageProvider()

void onInitImageProvider ( )
overrideprotectedvirtual
See also
Component::onInitComponent()

Implements ImageProvider.

Definition at line 63 of file CapturingImageProvider.cpp.

◆ onStartCapture()

virtual void onStartCapture ( float  framesPerSecond)
protectedpure virtual

This is called when the image provider capturing has been started.

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

Parameters
framesPerSecondcapturing fps
Exceptions
visionx::FrameRateNotSupportedException
visionx::StartingCaptureFailedException

Implemented in PlaybackImageProvider, WebCamImageProvider, VideoFileImageProvider, X11ScreenCaptureImageProvider, AzureKinectIRImageProvider, IEEE1394ImageProvider, KLGImageProvider, ImageSequenceProvider, ResultImageFuser, ImageProviderDynamicSimulation, FlyCaptureImageProvider, RCImageProvider, and OpenNIImageProvider.

◆ onStartCapturingImageProvider()

virtual void onStartCapturingImageProvider ( )
inlineprotectedvirtual

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

Reimplemented in RCImageProvider.

Definition at line 93 of file CapturingImageProvider.h.

◆ onStopCapture()

virtual void onStopCapture ( )
protectedpure virtual

◆ setImageSyncMode()

void setImageSyncMode ( ImageSyncMode  imageSyncMode)
protected

Sets the image synchronization mode.

Parameters
imageSyncModeimage synchronization mode

Definition at line 166 of file CapturingImageProvider.cpp.

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◆ startCapture()

void startCapture ( float  framesPerSecond,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Starts image capturing.

Parameters
framesPerSecondFrames per second to capture.
Exceptions
visionx::FrameRateNotSupportedException
visionx::StartingCaptureFailedException

Definition at line 40 of file CapturingImageProvider.cpp.

◆ stopCapture()

void stopCapture ( const Ice::Current &  c = Ice::emptyCurrent)
override

Stops image capturing.

The Capturing can be started anew by calling startCapture(...) again.

Definition at line 53 of file CapturingImageProvider.cpp.

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Member Data Documentation

◆ captureEnabled

bool captureEnabled
protected

Indicates that capturing is enabled and running.

Definition at line 208 of file CapturingImageProvider.h.

◆ captureMutex

std::mutex captureMutex
protected

mutex for capturing for proper exit

Definition at line 194 of file CapturingImageProvider.h.

◆ captureTask

armarx::RunningTask<CapturingImageProvider>::pointer_type captureTask
protected

Capture thread.

Definition at line 184 of file CapturingImageProvider.h.

◆ fpsCounter

FPSCounter fpsCounter
protected

FPS manager.

Definition at line 203 of file CapturingImageProvider.h.

◆ frameRate

float frameRate
protected

Required frame rate.

Definition at line 198 of file CapturingImageProvider.h.

◆ imageSyncMode

ImageSyncMode imageSyncMode
protected

Image synchronization information.

Definition at line 189 of file CapturingImageProvider.h.


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