The CapturingPointCloudProvider provides a callback function to trigger the capturing of point clouds with different synchronization modes. More...

#include <VisionX/components/pointcloud_core/CapturingPointCloudProvider.h>

Inheritance diagram for CapturingPointCloudProvider:

Public Member Functions
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...

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< 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

Protected Member Functions
virtual void	capture ()

virtual bool	doCapture ()=0
	Main capturing function. More...

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

void	onConnectPointCloudProvider () override

virtual void	onExitCapturingPointCloudProvider ()=0
	This is called when the Component::onExitComponent() setup is called. More...

void	onExitPointCloudProvider () override

virtual void	onInitCapturingPointCloudProvider ()=0
	This is called when the Component::onInitComponent() is called. More...

void	onInitPointCloudProvider () override

virtual void	onStartCapture (float framesPerSecond)=0
	This is called when the point cloud provider capturing has been started. More...

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

virtual void	onStopCapture ()=0
	This is called when the point cloud provider capturing has been stopped. More...

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

Protected Member Functions inherited from PointCloudProvider
virtual MetaPointCloudFormatPtr	getDefaultPointCloudFormat ()
	default point cloud format used to initialize shared memory More...

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

void	onConnectComponent () override

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

void	onExitComponent () override

void	onInitComponent () override

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...

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 LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
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

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 CapturingPointCloudProvider provides a callback function to trigger the capturing of point clouds with different synchronization modes.

Definition at line 56 of file CapturingPointCloudProvider.h.

Member Function Documentation

◆ capture()

void capture ( )

protectedvirtual

See also: capture method issued by RunningTask

Definition at line 147 of file CapturingPointCloudProvider.cpp.

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◆ changeFrameRate()

void changeFrameRate	(	Ice::Float	framesPerSecond,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

set a new frame rate

Parameters

framesPerSecond Frames per second to capture.

Exceptions

visionx::PointCloudProviderFrameRateNotSupportedException

Definition at line 73 of file CapturingPointCloudProvider.cpp.

◆ doCapture()

virtual bool doCapture ( )

protectedpure virtual

Main capturing function.

Parameters

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

Implemented in CoFusionProcessor, AzureKinectPointCloudProvider, OpenNIPointCloudProvider, IntelRealSenseProvider, MultiSensePointCloudProvider, KinectV2PointCloudProvider, RTABMapRegistration, StereoImagePointCloudProvider, KinectV1PointCloudProvider, RCPointCloudProvider, FakePointCloudProvider, and DepthImageProviderDynamicSimulation.

◆ getPointCloudSyncMode()

ImageSyncMode getPointCloudSyncMode ( )

protected

Returns the point cloud sync mode.

Definition at line 197 of file CapturingPointCloudProvider.cpp.

◆ isCaptureEnabled()

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

override

Definition at line 81 of file CapturingPointCloudProvider.cpp.

◆ onConnectPointCloudProvider()

void onConnectPointCloudProvider ( )

overrideprotectedvirtual

See also: Component::onConnectComponent()

Reimplemented from PointCloudProvider.

Reimplemented in OpenNIPointCloudProvider.

Definition at line 116 of file CapturingPointCloudProvider.cpp.

◆ onExitCapturingPointCloudProvider()

virtual void onExitCapturingPointCloudProvider ( )

protectedpure virtual

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

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

Implemented in CoFusionProcessor, AzureKinectPointCloudProvider, IntelRealSenseProvider, OpenNIPointCloudProvider, RTABMapRegistration, MultiSensePointCloudProvider, KinectV2PointCloudProvider, RCPointCloudProvider, StereoImagePointCloudProvider, KinectV1PointCloudProvider, FakePointCloudProvider, and DepthImageProviderDynamicSimulation.

◆ onExitPointCloudProvider()

void onExitPointCloudProvider ( )

overrideprotectedvirtual

See also: Component::onExitComponent()

Implements PointCloudProvider.

Definition at line 132 of file CapturingPointCloudProvider.cpp.

◆ onInitCapturingPointCloudProvider()

virtual void onInitCapturingPointCloudProvider ( )

protectedpure virtual

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.

Implemented in CoFusionProcessor, AzureKinectPointCloudProvider, IntelRealSenseProvider, OpenNIPointCloudProvider, RTABMapRegistration, MultiSensePointCloudProvider, KinectV2PointCloudProvider, RCPointCloudProvider, StereoImagePointCloudProvider, KinectV1PointCloudProvider, FakePointCloudProvider, and DepthImageProviderDynamicSimulation.

◆ onInitPointCloudProvider()

void onInitPointCloudProvider ( )

overrideprotectedvirtual

See also: Component::onInitComponent()

Implements PointCloudProvider.

Definition at line 90 of file CapturingPointCloudProvider.cpp.

◆ onStartCapture()

virtual void onStartCapture ( float framesPerSecond )

protectedpure virtual

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

Implemented in CoFusionProcessor, RTABMapRegistration, IntelRealSenseProvider, AzureKinectPointCloudProvider, OpenNIPointCloudProvider, MultiSensePointCloudProvider, KinectV2PointCloudProvider, RCPointCloudProvider, StereoImagePointCloudProvider, KinectV1PointCloudProvider, FakePointCloudProvider, and DepthImageProviderDynamicSimulation.

◆ onStartCapturingPointCloudProvider()

virtual void onStartCapturingPointCloudProvider ( )

inlineprotectedvirtual

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

Definition at line 118 of file CapturingPointCloudProvider.h.

◆ onStopCapture()

virtual void onStopCapture ( )

protectedpure virtual

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.

Implemented in CoFusionProcessor, OpenNIPointCloudProvider, AzureKinectPointCloudProvider, MultiSensePointCloudProvider, RTABMapRegistration, KinectV2PointCloudProvider, StereoImagePointCloudProvider, KinectV1PointCloudProvider, RCPointCloudProvider, FakePointCloudProvider, DepthImageProviderDynamicSimulation, and IntelRealSenseProvider.

◆ setPointCloudSyncMode()

void setPointCloudSyncMode ( ImageSyncMode pointCloudSyncMode )

protected

Sets the point cloud synchronization mode.

Parameters

pointCloudSyncMode point cloud synchronization mode

Definition at line 190 of file CapturingPointCloudProvider.cpp.

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◆ startCapture()

void startCapture ( const Ice::Current & c = Ice::emptyCurrent )

override

Starts point cloud capturing.

Exceptions

visionx::PointCloudProviderResolutionNotSupportedException
visionx::PointCloudProviderStartingCaptureFailedException

Definition at line 37 of file CapturingPointCloudProvider.cpp.

◆ startCaptureForNumFrames()

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

override

Starts point cloud capturing.

Parameters

numFrames Automatically stop capture after this amount of captured frames

Exceptions

visionx::PointCloudProviderResolutionNotSupportedException
visionx::PointCloudProviderStartingCaptureFailedException

Definition at line 50 of file CapturingPointCloudProvider.cpp.

◆ stopCapture()

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

override

Stops point cloud capturing.

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

Definition at line 63 of file CapturingPointCloudProvider.cpp.

Member Data Documentation

◆ captureEnabled

std::atomic_bool captureEnabled

protected

Indicates that capturing is enabled and running.

Definition at line 224 of file CapturingPointCloudProvider.h.

◆ captureMutex

std::mutex captureMutex

mutableprotected

mutex for capturing for proper exit

Definition at line 209 of file CapturingPointCloudProvider.h.

◆ captureTask

armarx::RunningTask<CapturingPointCloudProvider>::pointer_type captureTask

protected

Capture thread.

Definition at line 199 of file CapturingPointCloudProvider.h.

◆ fpsCounter

FPSCounter fpsCounter

protected

FPS manager.

Definition at line 219 of file CapturingPointCloudProvider.h.

◆ frameRate

float frameRate

protected

Required frame rate.

Definition at line 214 of file CapturingPointCloudProvider.h.

◆ numFramesToCapture

int numFramesToCapture

protected

Number of frames to capture.

Definition at line 229 of file CapturingPointCloudProvider.h.

◆ pointCloudSyncMode

ImageSyncMode pointCloudSyncMode

protected

Point cloud synchronization information.

Definition at line 204 of file CapturingPointCloudProvider.h.

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

VisionX/components/pointcloud_core/CapturingPointCloudProvider.h
VisionX/components/pointcloud_core/CapturingPointCloudProvider.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ capture()

◆ changeFrameRate()

◆ doCapture()

◆ getPointCloudSyncMode()

◆ isCaptureEnabled()

◆ onConnectPointCloudProvider()

◆ onExitCapturingPointCloudProvider()

◆ onExitPointCloudProvider()

◆ onInitCapturingPointCloudProvider()

◆ onInitPointCloudProvider()

◆ onStartCapture()

◆ onStartCapturingPointCloudProvider()

◆ onStopCapture()

◆ setPointCloudSyncMode()

◆ startCapture()

◆ startCaptureForNumFrames()

◆ stopCapture()

Member Data Documentation

◆ captureEnabled

◆ captureMutex

◆ captureTask

◆ fpsCounter

◆ frameRate

◆ numFramesToCapture

◆ pointCloudSyncMode