OpenNIPointCloudProvider Class Reference

A brief description. More...

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

+ Inheritance diagram for OpenNIPointCloudProvider:

Public Member Functions

std::string getDefaultName () const override
 
std::vector< imrec::ChannelPreferences > getImageRecordingChannelPreferences (const Ice::Current &) override
 
 OpenNIPointCloudProvider ()
 
- 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< 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...
 
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
 
- 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
 

Protected Member Functions

armarx::PropertyDefinitionsPtr createPropertyDefinitions () override
 
bool doCapture () override
 
bool getImagesAreUndistorted (const ::Ice::Current &c=Ice::emptyCurrent) override
 
std::string getReferenceFrame (const Ice::Current &c=Ice::emptyCurrent) override
 
StereoCalibration getStereoCalibration (const Ice::Current &c=Ice::emptyCurrent) override
 
bool hasSharedMemorySupport (const Ice::Current &c=Ice::emptyCurrent) override
 
void onConnectComponent () override
 
void onConnectPointCloudProvider () override
 
void onDisconnectComponent () override
 Hook for subclass. More...
 
void onExitCapturingPointCloudProvider () override
 
void onExitComponent () override
 
void onExitImageProvider () override
 
void onInitCapturingPointCloudProvider () override
 
void onInitComponent () override
 
void onInitImageProvider () override
 
void onStartCapture (float frameRate) override
 
void onStopCapture () override
 
- Protected Member Functions inherited from CapturingPointCloudProvider
virtual void capture ()
 
ImageSyncMode getPointCloudSyncMode ()
 Returns the point cloud sync mode. More...
 
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
virtual MetaPointCloudFormatPtr getDefaultPointCloudFormat ()
 default point cloud format used to initialize shared memory More...
 
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 LogSenderPtrgetLogSender () 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
 
virtual void onConnectImageProvider ()
 This is called when the Component::onConnectComponent() setup is called. More...
 
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)
 

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...
 
- 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

A brief description.

Detailed Description

Definition at line 113 of file OpenNIPointCloudProvider.h.

Constructor & Destructor Documentation

◆ OpenNIPointCloudProvider()

Member Function Documentation

◆ createPropertyDefinitions()

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

Reimplemented from Component.

Definition at line 676 of file OpenNIPointCloudProvider.cpp.

◆ doCapture()

bool doCapture ( )
overrideprotectedvirtual
See also
visionx::PointCloudProviderBase::doCapture()

Implements CapturingPointCloudProvider.

Definition at line 616 of file OpenNIPointCloudProvider.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const
inlineoverridevirtual

◆ getImageRecordingChannelPreferences()

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

Definition at line 660 of file OpenNIPointCloudProvider.cpp.

◆ getImagesAreUndistorted()

bool getImagesAreUndistorted ( const ::Ice::Current &  c = Ice::emptyCurrent)
inlineoverrideprotected

Definition at line 196 of file OpenNIPointCloudProvider.h.

◆ getReferenceFrame()

std::string getReferenceFrame ( const Ice::Current &  c = Ice::emptyCurrent)
inlineoverrideprotected

Definition at line 202 of file OpenNIPointCloudProvider.h.

◆ getStereoCalibration()

StereoCalibration getStereoCalibration ( const Ice::Current &  c = Ice::emptyCurrent)
overrideprotected

Definition at line 437 of file OpenNIPointCloudProvider.cpp.

◆ hasSharedMemorySupport()

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

Definition at line 176 of file OpenNIPointCloudProvider.h.

◆ onConnectComponent()

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

Reimplemented from PointCloudProvider.

Definition at line 68 of file OpenNIPointCloudProvider.cpp.

◆ onConnectPointCloudProvider()

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

Reimplemented from CapturingPointCloudProvider.

Definition at line 372 of file OpenNIPointCloudProvider.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 PointCloudProvider.

Definition at line 81 of file OpenNIPointCloudProvider.cpp.

◆ onExitCapturingPointCloudProvider()

void onExitCapturingPointCloudProvider ( )
overrideprotectedvirtual
See also
visionx::PointCloudProviderBase::onExitPointCloudProvider()

Implements CapturingPointCloudProvider.

Definition at line 416 of file OpenNIPointCloudProvider.cpp.

◆ onExitComponent()

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

Reimplemented from PointCloudProvider.

Definition at line 91 of file OpenNIPointCloudProvider.cpp.

◆ onExitImageProvider()

void onExitImageProvider ( )
inlineoverrideprotectedvirtual

◆ onInitCapturingPointCloudProvider()

void onInitCapturingPointCloudProvider ( )
overrideprotectedvirtual
See also
visionx::PointCloudProviderBase::onInitPointCloudProvider()

Implements CapturingPointCloudProvider.

Definition at line 150 of file OpenNIPointCloudProvider.cpp.

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◆ onInitComponent()

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

Reimplemented from PointCloudProvider.

Definition at line 55 of file OpenNIPointCloudProvider.cpp.

◆ onInitImageProvider()

void onInitImageProvider ( )
overrideprotectedvirtual

◆ onStartCapture()

void onStartCapture ( float  frameRate)
overrideprotectedvirtual
See also
visionx::PointCloudProviderBase::onStartCapture()

Implements CapturingPointCloudProvider.

Definition at line 382 of file OpenNIPointCloudProvider.cpp.

◆ onStopCapture()

void onStopCapture ( )
overrideprotectedvirtual
See also
visionx::PointCloudProviderBase::onStopCapture()

Implements CapturingPointCloudProvider.

Definition at line 400 of file OpenNIPointCloudProvider.cpp.


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