Brief description of class PointCloudFilter. More...

#include <VisionX/components/pointcloud_processor/PointCloudFilter/PointCloudFilter.h>

Inheritance diagram for PointCloudFilter:

Public Member Functions
virtual std::string	getDefaultName () const override

virtual std::string	getReferenceFrame (const Ice::Current &=Ice::emptyCurrent) override

virtual void	setCroppingParameters (const armarx::Vector3BasePtr &min, const armarx::Vector3BasePtr &max, const std::string &frame, const Ice::Current &=Ice::emptyCurrent) override

Public Member Functions inherited from PointCloudProcessor
template<typename PointT >
void	enableResultPointCloudForInputProvider (const std::string &inputProviderName, const std::string &resultProviderName="")

void	enableResultPointClouds (std::string resultProviderName, size_t shmCapacity, PointContentType pointContentType)

template<typename PointT >
void	enableResultPointClouds (std::string resultProviderName="")
	Enables visualization. More...

MetaPointCloudFormatPtr	getPointCloudFormat (std::string providerName)

std::string	getPointCloudFrame (const std::string &providerName, const std::string &defaultFrame="")
	Get the reference frame of the point cloud by given provider. More...

PointCloudProviderInfo	getPointCloudProvider (bool waitForProxy=false)

PointCloudProviderInfo	getPointCloudProvider (std::string name, bool waitForProxy=false)
	Select an PointCloudProvider. More...

std::vector< std::string >	getPointCloudProviderNames () const
	Get the names of providers for which `usingPointCloudProvider()` has been called. More...

template<typename PointCloudPtrT >
int	getPointClouds (const PointCloudPtrT &pointCloudPtr)
	Poll PointClouds from provider. More...

template<typename PointCloudPtrT >
bool	getPointClouds (std::string providerName, const PointCloudPtrT &pointClouds)
	Poll PointClouds from provider. More...

PointCloudTransferStats	getPointCloudTransferStats (std::string providerName, bool resetStats=false)
	Retrieve statistics for a connection to an PointCloudProvider. More...

bool	isPointCloudProviderKnown (const std::string &providerName) const
	Indicate whether the given name identifies a known point cloud provider. More...

bool	pointCloudHasNewData (std::string providerName)
	Returns current status for the given point cloud. More...

template<typename PointCloudPtrT >
void	provideResultPointClouds (const PointCloudPtrT &pointClouds, std::string providerName="")
	sends result PointClouds for visualization More...

template<typename PointCloudPtrT >
void	provideResultPointClouds (const std::string &providerName, const PointCloudPtrT &pointClouds)

void	releasePointCloudProvider (std::string providerName)
	Removes topic subscription and provider proxy dependency to release a point cloud provider. More...

void	usingPointCloudProvider (std::string providerName)
	Registers a delayed topic subscription and a delayed provider proxy retrieval which will be available on the start of the component. More...

void	usingPointCloudProviderFromProperty (const std::string &prop)

bool	waitForPointClouds (const std::string &providerName, int milliseconds=1000)
	Wait for new PointClouds. More...

bool	waitForPointClouds (int milliseconds=1000)
	Wait for new PointClouds. More...

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

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Protected Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

virtual void	onConnectPointCloudProcessor () override

virtual void	onDisconnectPointCloudProcessor () override

virtual void	onExitPointCloudProcessor () override

virtual void	onInitPointCloudProcessor () override

virtual void	process () override

template<typename PointType >
void	processPointCloud ()

Protected Member Functions inherited from PointCloudProcessor
virtual void	onConnectComponent () override

virtual void	onDisconnectComponent () override

virtual void	onExitComponent () override

virtual void	onInitComponent () override

void	reportPointCloudAvailable (const std::string &providerName, const Ice::Current &c=Ice::emptyCurrent) override
	Listener callback function. More...

virtual void	runProcessor ()

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

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

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

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 Types inherited from PointCloudProcessor
using	PointCloudProviderMap = std::map< std::string, armarx::IceSharedMemoryConsumer< unsigned char, MetaPointCloudFormat >::pointer_type >

Protected Attributes inherited from PointCloudProcessor
bool	automaticConversion

FPSCounter	fpsCounter

float	frameRate

std::map< std::string, PointCloudProviderInfo >	pointCloudProviderInfoMap

std::shared_mutex	pointCloudProviderInfoMutex

armarx::RunningTask< PointCloudProcessor >::pointer_type	processorTask

std::map< std::string, IceInternal::Handle< ResultPointCloudProvider > >	resultPointCloudProviders

std::shared_mutex	resultProviderMutex

std::map< std::string, PointCloudTransferStats >	statistics

std::mutex	statisticsMutex

PointCloudProviderMap	usedPointCloudProviders

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Brief description of class PointCloudFilter.

Detailed description of class PointCloudFilter.

Definition at line 82 of file PointCloudFilter.h.

Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 519 of file PointCloudFilter.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

overridevirtual

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

Implements ManagedIceObject.

Definition at line 100 of file PointCloudFilter.cpp.

◆ getReferenceFrame()

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

overridevirtual

Definition at line 105 of file PointCloudFilter.cpp.

◆ onConnectPointCloudProcessor()

void onConnectPointCloudProcessor ( )

overrideprotectedvirtual

See also: visionx::PointCloudProcessor::onConnectPointCloudProcessor()

Implements PointCloudProcessor.

Definition at line 173 of file PointCloudFilter.cpp.

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◆ onDisconnectPointCloudProcessor()

void onDisconnectPointCloudProcessor ( )

overrideprotectedvirtual

See also: visionx::PointCloudProcessor::onDisconnectPointCloudProcessor()

Reimplemented from PointCloudProcessor.

Definition at line 259 of file PointCloudFilter.cpp.

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◆ onExitPointCloudProcessor()

void onExitPointCloudProcessor ( )

overrideprotectedvirtual

See also: visionx::PointCloudProcessor::onExitPointCloudProcessor()

Implements PointCloudProcessor.

Definition at line 233 of file PointCloudFilter.cpp.

◆ onInitPointCloudProcessor()

void onInitPointCloudProcessor ( )

overrideprotectedvirtual

See also: visionx::PointCloudProcessor::onInitPointCloudProcessor()

Implements PointCloudProcessor.

Definition at line 122 of file PointCloudFilter.cpp.

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◆ process()

void process ( )

overrideprotectedvirtual

See also: visionx::PointCloudProcessor::process()

Implements PointCloudProcessor.

Definition at line 238 of file PointCloudFilter.cpp.

◆ processPointCloud()

void processPointCloud

protected

Definition at line 281 of file PointCloudFilter.cpp.

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◆ setCroppingParameters()

void setCroppingParameters	(	const armarx::Vector3BasePtr &	min,
		const armarx::Vector3BasePtr &	max,
		const std::string &	frame,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

overridevirtual

Definition at line 111 of file PointCloudFilter.cpp.

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

VisionX/components/pointcloud_processor/PointCloudFilter/PointCloudFilter.h
VisionX/components/pointcloud_processor/PointCloudFilter/PointCloudFilter.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ getReferenceFrame()

◆ onConnectPointCloudProcessor()

◆ onDisconnectPointCloudProcessor()

◆ onExitPointCloudProcessor()

◆ onInitPointCloudProcessor()

◆ process()

◆ processPointCloud()

◆ setCroppingParameters()