ImageProcessor Class Referenceabstract

The ImageProcessor class provides an interface for access to ImageProviders via Ice and shared memory. More...

#include <VisionX/core/ImageProcessor.h>

+ Inheritance diagram for ImageProcessor:

Public Member Functions

std::string getImageListenerTopicName (std::string providerName) const
 
- Public Member Functions inherited from Component
void forceComponentCreatedByComponentCreateFunc ()
 forces the flag to be set to true that the object instance was created by the Component::create function More...
 
std::vector< PropertyUserPtrgetAdditionalPropertyUsers () const
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class ProxyType >
ProxyType getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Get a proxy whose name is specified by the given property. More...
 
template<class ProxyType >
void getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 
template<class TopicProxyType >
TopicProxyType getTopicFromProperty (const std::string &propertyName)
 Get a topic proxy whose name is specified by the given property. More...
 
template<class TopicProxyType >
void getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
 
void initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
 initializes the properties of this component. More...
 
void injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
 
void offeringTopicFromProperty (const std::string &propertyName)
 Offer a topic whose name is specified by the given property. More...
 
virtual void preOnConnectComponent () override
 
virtual void preOnInitComponent () override
 
bool usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
 Use a proxy whose name is specified by the given property. More...
 
void usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
 Use a topic whose name is specified by the given property. More...
 
- Public Member Functions inherited from ManagedIceObject
void enableProfiler (bool enable)
 setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...
 
std::string generateSubObjectName (const std::string &subObjectName)
 Generates a unique name for a sub object from a general name. More...
 
ArmarXManagerPtr getArmarXManager () const
 Returns the ArmarX manager used to add and remove components. More...
 
ManagedIceObjectConnectivity getConnectivity () const
 Retrieve connectivity of the object (topcis as well as proxies) More...
 
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
 

Static Public Attributes

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

using ImageProviderMap = std::map< std::string, armarx::IceSharedMemoryConsumer< unsigned char >::pointer_type >
 

Protected Member Functions

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
 
virtual void onConnectImageProcessor ()=0
 Implement this method in the ImageProcessor in order execute parts when the component is fully initialized and about to run. More...
 
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
 
virtual void onExitImageProcessor ()=0
 Exit the ImapeProcessor component. More...
 
void onInitComponent () override
 
virtual void onInitImageProcessor ()=0
 Setup the vision component. More...
 
virtual void process ()=0
 Process the vision component. More...
 
void provideResultImages (CByteImage **images, armarx::MetaInfoSizeBasePtr info=nullptr)
 sends result images for visualization More...
 
void provideResultImages (const std::vector< CByteImageUPtr > &images, armarx::MetaInfoSizeBasePtr info=nullptr)
 
void releaseImageProvider (std::string providerName)
 
void reportImageAvailable (const std::string &providerName, const Ice::Current &c=Ice::emptyCurrent) override
 Listener callback function. More...
 
virtual void runProcessor ()
 
void setCompressionType (CompressionType compressionType=ePNG, int compressionQuality=9)
 Sets the compression type and compression quality. More...
 
void setFramerate (float fps)
 
void usingImageProvider (std::string name)
 Registers a delayed topic subscription and a delayed provider proxy retrieval which all will be available on the start of the component. More...
 
bool waitForImages (int milliseconds=1000)
 Wait for new images. More...
 
bool waitForImages (std::string providerName, IceUtil::Time waitTime)
 
bool waitForImages (std::string providerName, int milliseconds=1000)
 Wait for new images. More...
 
- Protected Member Functions inherited from Component
void addPropertyUser (const PropertyUserPtr &subPropertyUser)
 Add additional property users here that should show up in the application help text. More...
 
 Component ()
 Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...
 
std::string getConfigDomain ()
 Retrieve config domain for this component as set in constructor. More...
 
std::string getConfigIdentifier ()
 Retrieve config identifier for this component as set in constructor. More...
 
std::string getConfigName ()
 Retrieve config name for this component as set in constructor. More...
 
virtual void icePropertiesInitialized ()
 
- Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT * addPlugin (const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)
 
Ice::CommunicatorPtr getCommunicator () const
 
std::unique_ptr< ManagedIceObjectPlugin > & getPluginPointer (std::type_info const &type, std::string const &prefix)
 
 ManagedIceObject ()
 Protected default constructor. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnDisconnectComponent ()
 
virtual void preOnExitComponent ()
 
bool removeProxyDependency (const std::string &name)
 This function removes the dependency of this object on the in parameter name specified object. More...
 
void setName (std::string name)
 Override name of well-known object. More...
 
void terminate ()
 Initiates termination of this IceManagedObject. More...
 
 ~ManagedIceObject () override
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 

Protected Attributes

int compressionQuality = 9
 
CompressionType compressionType = eNoCompression
 
float desiredFps = 0
 
std::map< std::string, ImageProviderInfoimageProviderInfoMap
 
std::shared_mutex imageProviderInfoMutex
 
armarx::PeriodicTask< ImageProcessor >::pointer_type processorTask
 
IceInternal::Handle< ResultImageProviderresultImageProvider
 
bool startProcessorTask = true
 
std::map< std::string, ImageTransferStatsstatistics
 
std::mutex statisticsMutex
 
ImageProviderMap usedImageProviders
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

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)
 

Detailed Description

The ImageProcessor class provides an interface for access to ImageProviders via Ice and shared memory.

The interface defines a set of convenience methods which simplify the image access. ImageProcessor implements the ImageProcessorBase Ice interface for new image announcement and the armarx::ImageProvider providing visualizations.

Definition at line 87 of file ImageProcessor.h.

Member Typedef Documentation

◆ ImageProviderMap

using ImageProviderMap = std::map<std::string, armarx::IceSharedMemoryConsumer<unsigned char>::pointer_type>
protected

Definition at line 400 of file ImageProcessor.h.

Member Function Documentation

◆ cleanup()

void cleanup ( )
protected

clean up memory

Definition at line 728 of file ImageProcessor.cpp.

◆ componentPropertiesUpdated()

void componentPropertiesUpdated ( const std::set< std::string > &  changedProperties)
overrideprotectedvirtual

Implement this function if you would like to react to changes in the properties.

Parameters
changedPropertiesSet of changed properties. Retrieve the values with getProperty()

Reimplemented from Component.

Definition at line 743 of file ImageProcessor.cpp.

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )
overrideprotectedvirtual
See also
PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 97 of file ImageProcessor.cpp.

◆ enableResultImages()

void enableResultImages ( int  numberImages,
ImageDimension  imageDimension,
ImageType  imageType,
const std::string &  name = "" 
)
protected

Enables visualization.

Parameters
numberImagesnumber of images provided by the visualization
imageDimensionsize of images
imageTypetype of images
nameThe topic name to use (if empty getName() + "Result" is used)
Returns
Information of the image provider

Definition at line 227 of file ImageProcessor.cpp.

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◆ getCompressionQuality()

int getCompressionQuality ( ) const
protected

Definition at line 758 of file ImageProcessor.cpp.

◆ getCompressionType()

CompressionType getCompressionType ( ) const
protected

Definition at line 763 of file ImageProcessor.cpp.

◆ getFramerate()

float getFramerate ( ) const
protected

Definition at line 691 of file ImageProcessor.cpp.

◆ getHardwareId()

std::string getHardwareId ( const Ice::Current &  c = Ice::emptyCurrent)
protected

Returns machines hardware Id string.

◆ getImageListenerTopicName()

std::string getImageListenerTopicName ( std::string  providerName) const

Definition at line 112 of file ImageProcessor.cpp.

◆ getImageMetaInfo()

MetaInfoSizeBasePtr getImageMetaInfo ( const std::string &  imageProviderName = "") const
protected

Get meta information from the image provider.

Parameters
imageProviderNameName of image provider. If empty, returns first entry in ImageProvider map.
Returns
Null if no ImageProvider used or name could not be found.

Definition at line 653 of file ImageProcessor.cpp.

◆ getImageProvider() [1/2]

ImageProviderInfo getImageProvider ( std::string  name,
bool  waitForProxy,
ImageType  destinationImageType = eRgb 
)
protected

Definition at line 222 of file ImageProcessor.cpp.

◆ getImageProvider() [2/2]

ImageProviderInfo getImageProvider ( std::string  name,
ImageType  destinationImageType = eRgb,
bool  waitForProxy = false 
)
protected

Select an ImageProvider.

This method subscribes to an an ImageProvider and makes the provider available in the waitForImages() and getImages() methods.

Parameters
nameIce adapter name of the ImageProvider
destinationImageTypeImage's type after image transmission
Returns
Information of the image provider

Definition at line 152 of file ImageProcessor.cpp.

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◆ getImages() [1/7]

int getImages ( CByteImage **  ppImages)
protected

Poll images from provider.

Polls images from a used ImageProvider either via shared memory or via Ice. If both components run on the same machine, shared memory transfer is used. Otherwise Ice is used for image transmission. The transfer type is decided in the useImageProvider method and is set in the corresponding ImageFormatInfo.

Use this method if only one ImageProvider is used.

Parameters
ppImagesImage buffers where the images are copied to. The buffers have to be initialized by the component. All required information for the allocation of the buffers can be found in the corresponding ImageFormatInfo.
Returns
Number of images copied. Zero if no new images have been available.

Definition at line 351 of file ImageProcessor.cpp.

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◆ getImages() [2/7]

int getImages ( CFloatImage **  ppImages)
protected
See also
ImageProcessorBase::getImages(CByteImage*)

Definition at line 380 of file ImageProcessor.cpp.

◆ getImages() [3/7]

int getImages ( std::string  providerName,
CByteImage **  ppImages,
armarx::MetaInfoSizeBasePtr &  info 
)
protected

Poll images from provider.

Polls images from a used ImageProvider either via shared memory or via Ice. If both components run on the same machine, shared memory transfer is used. Otherwise Ice is used for image transmission. The transfer type is decided in the useImageProvider method and is set in the corresponding ImageFormatInfo.

Use this method if multiple ImageProviders are used.

Parameters
providerNameName of provider to poll from
ppImagesImage buffers where the images are copied to. The buffers have to be initialized by the component. All required information for the allocation of the buffers can be found in the corresponding ImageFormatInfo.
Returns
Number of images copied. Zero if no new images have been available.

Definition at line 427 of file ImageProcessor.cpp.

◆ getImages() [4/7]

int getImages ( std::string  providerName,
CFloatImage **  ppImages,
armarx::MetaInfoSizeBasePtr &  info 
)
protected
See also
ImageProcessorBase::getImages(std::string, CByteImage**)

Definition at line 461 of file ImageProcessor.cpp.

◆ getImages() [5/7]

int getImages ( std::string  providerName,
const std::vector< CByteImageUPtr > &  ppImages,
armarx::MetaInfoSizeBasePtr &  info 
)
protected

◆ getImages() [6/7]

int getImages ( std::string  providerName,
void **  ppBuffer,
armarx::MetaInfoSizeBasePtr &  info 
)
protected
See also
ImageProcessorBase::getImages(std::string, CByteImage**)

Definition at line 478 of file ImageProcessor.cpp.

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◆ getImages() [7/7]

int getImages ( void **  ppBuffer)
protected
See also
ImageProcessorBase::getImages(CByteImage**)

Definition at line 397 of file ImageProcessor.cpp.

◆ getImageTransferStats()

ImageTransferStats getImageTransferStats ( std::string  provideNname,
bool  resetStats = false 
)
protected

Retrieve statistics for a connection to an ImageProvider.

Parameters
provideNnameName of the provider
resetStatsReset statistics
Returns
Reference to statistics for the connection to the provder

Definition at line 625 of file ImageProcessor.cpp.

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◆ getNumberOfImages()

int getNumberOfImages ( const std::string &  providerName = "")
protected

Returns the number of images provided by the specified image provider If no provider is specified, the first provider is taken.

Parameters
providerNameRequested image provider

Definition at line 577 of file ImageProcessor.cpp.

◆ isNewImageAvailable() [1/2]

bool isNewImageAvailable ( )
protected

Definition at line 331 of file ImageProcessor.cpp.

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◆ isNewImageAvailable() [2/2]

bool isNewImageAvailable ( const std::string &  providerName)
protected

Definition at line 336 of file ImageProcessor.cpp.

◆ onConnectComponent()

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

Implements ManagedIceObject.

Definition at line 72 of file ImageProcessor.cpp.

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◆ onConnectImageProcessor()

◆ onDisconnectComponent()

void onDisconnectComponent ( )
overrideprotectedvirtual
See also
Component::onDisconnectComponent()

Reimplemented from ManagedIceObject.

Definition at line 83 of file ImageProcessor.cpp.

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◆ onDisconnectImageProcessor()

◆ onExitComponent()

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

Reimplemented from ManagedIceObject.

Definition at line 89 of file ImageProcessor.cpp.

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◆ onExitImageProcessor()

◆ onInitComponent()

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

Implements ManagedIceObject.

Definition at line 52 of file ImageProcessor.cpp.

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◆ onInitImageProcessor()

◆ process()

◆ provideResultImages() [1/2]

void provideResultImages ( CByteImage **  images,
armarx::MetaInfoSizeBasePtr  info = nullptr 
)
protected

sends result images for visualization

See also
enableVisualization
Parameters
imagesarray of images to send

Definition at line 245 of file ImageProcessor.cpp.

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◆ provideResultImages() [2/2]

void provideResultImages ( const std::vector< CByteImageUPtr > &  images,
armarx::MetaInfoSizeBasePtr  info = nullptr 
)
protected

◆ releaseImageProvider()

void releaseImageProvider ( std::string  providerName)
protected

Definition at line 137 of file ImageProcessor.cpp.

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◆ reportImageAvailable()

void reportImageAvailable ( const std::string &  providerName,
const Ice::Current &  c = Ice::emptyCurrent 
)
overrideprotected

Listener callback function.

This is called by the used image providers to report the availability of a newly captured image.

Parameters
providerNameThe reporting image provider name

Definition at line 703 of file ImageProcessor.cpp.

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◆ runProcessor()

void runProcessor ( )
protectedvirtual
See also
PeriodicTask

Definition at line 103 of file ImageProcessor.cpp.

◆ setCompressionType()

void setCompressionType ( CompressionType  compressionType = ePNG,
int  compressionQuality = 9 
)
protected

Sets the compression type and compression quality.

Quality needs to fit to compressionType: PNG: 0-9 (9: best compression, but slowest), JPEG: 0-100 (100: best quality) *

Definition at line 696 of file ImageProcessor.cpp.

◆ setFramerate()

void setFramerate ( float  fps)
protected

Definition at line 682 of file ImageProcessor.cpp.

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◆ usingImageProvider()

void usingImageProvider ( std::string  name)
protected

Registers a delayed topic subscription and a delayed provider proxy retrieval which all will be available on the start of the component.

Parameters
nameProvider name

Definition at line 117 of file ImageProcessor.cpp.

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◆ waitForImages() [1/3]

bool waitForImages ( int  milliseconds = 1000)
protected

Wait for new images.

Wait for new image of an image provider. Use if only one ImageProvider is used (see useImageProvider).

Parameters
millisecondsTimeout for waiting
Returns
True if new images are available. False in case of error or timeout

Definition at line 275 of file ImageProcessor.cpp.

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◆ waitForImages() [2/3]

bool waitForImages ( std::string  providerName,
IceUtil::Time  waitTime 
)
protected

Definition at line 326 of file ImageProcessor.cpp.

◆ waitForImages() [3/3]

bool waitForImages ( std::string  providerName,
int  milliseconds = 1000 
)
protected

Wait for new images.

Wait for new image of an image provider. Use if multiple ImageProviders are used (see useImageProvider).

Parameters
providerNameName of provider to wait for images
millisecondsTimeout for waiting
Returns
True if new images are available. False in case of error or timeout

Definition at line 298 of file ImageProcessor.cpp.

Field Documentation

◆ compressionQuality

int compressionQuality = 9
protected

Definition at line 421 of file ImageProcessor.h.

◆ compressionType

CompressionType compressionType = eNoCompression
protected

Definition at line 420 of file ImageProcessor.h.

◆ desiredFps

float desiredFps = 0
protected

Definition at line 415 of file ImageProcessor.h.

◆ imageProviderInfoMap

std::map<std::string, ImageProviderInfo> imageProviderInfoMap
protected

Definition at line 403 of file ImageProcessor.h.

◆ imageProviderInfoMutex

std::shared_mutex imageProviderInfoMutex
protected

Definition at line 404 of file ImageProcessor.h.

◆ ListenerSuffix

std::string ListenerSuffix = ".ImageListener"
static

Definition at line 92 of file ImageProcessor.h.

◆ processorTask

armarx::PeriodicTask<ImageProcessor>::pointer_type processorTask
protected

Definition at line 413 of file ImageProcessor.h.

◆ resultImageProvider

IceInternal::Handle<ResultImageProvider> resultImageProvider
protected

Definition at line 407 of file ImageProcessor.h.

◆ startProcessorTask

bool startProcessorTask = true
protected

Definition at line 416 of file ImageProcessor.h.

◆ statistics

std::map<std::string, ImageTransferStats> statistics
protected

Definition at line 411 of file ImageProcessor.h.

◆ statisticsMutex

std::mutex statisticsMutex
protected

Definition at line 410 of file ImageProcessor.h.

◆ usedImageProviders

ImageProviderMap usedImageProviders
protected

Definition at line 401 of file ImageProcessor.h.


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