PointCloudProcessor Class Referenceabstract

The PointCloudProcessor class provides an interface for access to PointCloudProviders via Ice and shared memory. More...

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

+ Inheritance diagram for PointCloudProcessor:

Public Member Functions

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< PropertyUserPtrgetAdditionalPropertyUsers () const
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class ProxyType >
ProxyType getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Get a proxy whose name is specified by the given property. More...
 
template<class ProxyType >
void getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 
template<class TopicProxyType >
TopicProxyType getTopicFromProperty (const std::string &propertyName)
 Get a topic proxy whose name is specified by the given property. More...
 
template<class TopicProxyType >
void getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
 
void initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
 initializes the properties of this component. More...
 
void injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
 
void offeringTopicFromProperty (const std::string &propertyName)
 Offer a topic whose name is specified by the given property. More...
 
virtual void preOnConnectComponent () override
 
virtual void preOnInitComponent () override
 
bool usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
 Use a proxy whose name is specified by the given property. More...
 
void usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
 Use a topic whose name is specified by the given property. More...
 
- Public Member Functions inherited from ManagedIceObject
void enableProfiler (bool enable)
 setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...
 
std::string generateSubObjectName (const std::string &subObjectName)
 Generates a unique name for a sub object from a general name. More...
 
ArmarXManagerPtr getArmarXManager () const
 Returns the ArmarX manager used to add and remove components. More...
 
ManagedIceObjectConnectivity getConnectivity () const
 Retrieve connectivity of the object (topcis as well as proxies) More...
 
virtual std::string getDefaultName () const =0
 Retrieve default name of component. More...
 
IceManagerPtr getIceManager () const
 Returns the IceManager. More...
 
VariantBasePtr getMetaInfo (const std::string &id)
 
StringVariantBaseMap getMetaInfoMap () const
 
std::string getName () const
 Retrieve name of object. More...
 
Ice::ObjectAdapterPtr getObjectAdapter () const
 Returns object's Ice adapter. More...
 
ArmarXObjectSchedulerPtr getObjectScheduler () const
 
PeriodicTaskPtr getPeriodicTask (const std::string &name)
 
Profiler::ProfilerPtr getProfiler () const
 getProfiler returns an instance of armarx::Profiler More...
 
template<class ProxyTarg , class... Args>
void getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyType >
ProxyType getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Retrieves a proxy object. More...
 
template<class ProxyTarg , class... Args>
void getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
 Assigns a proxy to proxy. More...
 
Ice::ObjectPrx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 Returns the proxy of this object (optionally it waits for the proxy) More...
 
template<class Prx >
Prx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 
template<class ProxyType >
void getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Overload to allow using string literals as name (solve ambiguous overload). More...
 
template<class Prx >
void getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
 
int getState () const
 Retrieve current state of the ManagedIceObject. More...
 
template<class TopicProxyType >
TopicProxyType getTopic (const std::string &name)
 Returns a proxy of the specified topic. More...
 
template<class TopicProxyType >
void getTopic (TopicProxyType &topicProxy, const std::string &name)
 Assigns a proxy of the specified topic to topicProxy. More...
 
std::vector< std::string > getUnresolvedDependencies () const
 returns the names of all unresolved dependencies More...
 
 ManagedIceObject (ManagedIceObject const &other)
 
void offeringTopic (const std::string &name)
 Registers a topic for retrival after initialization. More...
 
void preambleGetTopic (std::string const &name)
 
void setMetaInfo (const std::string &id, const VariantBasePtr &value)
 Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...
 
void startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
 
bool stopPeriodicTask (const std::string &name)
 
bool unsubscribeFromTopic (const std::string &name)
 Unsubscribe from a topic. More...
 
bool usingProxy (const std::string &name, const std::string &endpoints="")
 Registers a proxy for retrieval after initialization and adds it to the dependency list. More...
 
void usingTopic (const std::string &name, bool orderedPublishing=false)
 Registers a proxy for subscription after initialization. More...
 
void waitForObjectScheduler ()
 Waits until the ObjectScheduler could resolve all dependencies. More...
 
void waitForProxy (std::string const &name, bool addToDependencies)
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds. More...
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 
- Public Member Functions inherited from PropertyUser
std::vector< std::string > getComponentProxyNames ()
 
Ice::PropertiesPtr getIceProperties () const
 Returns the set of Ice properties. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 Property creation and retrieval. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 Hack to allow using getProperty in const-modified methods. More...
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class T >
std::vector< TgetPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
template<class ContainerT >
void getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
PropertyDefinitionsPtr getPropertyDefinitions ()
 Returns the component's property definition container. More...
 
std::vector< std::string > getSubscribedTopicNames ()
 
std::vector< std::string > getTopicProxyNames ()
 
bool hasProperty (const std::string &name)
 
 PropertyUser ()
 
virtual void setIceProperties (Ice::PropertiesPtr properties)
 Sets the Ice properties. More...
 
bool tryAddProperty (const std::string &propertyName, const std::string &value)
 
virtual void updateIceProperties (const std::map< std::string, std::string > &changes)
 
void updateProperties ()
 
void updateProxies (IceManagerPtr)
 
 ~PropertyUser () override
 

Protected Types

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

Protected Member Functions

virtual void onConnectComponent () override
 
virtual void onConnectPointCloudProcessor ()=0
 Implement this method in the PointCloudProcessor in order execute parts when the component is fully initialized and about to run. More...
 
virtual void onDisconnectComponent () override
 
virtual void onDisconnectPointCloudProcessor ()
 Implement this method in the PointCloudProcessor in order execute parts when the component looses network connectivity. More...
 
virtual void onExitComponent () override
 
virtual void onExitPointCloudProcessor ()=0
 Exit the ImapeProcessor component. More...
 
virtual void onInitComponent () override
 
virtual void onInitPointCloudProcessor ()=0
 Setup the vision component. More...
 
virtual void process ()=0
 Process the vision component. More...
 
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...
 
PropertyDefinitionsPtr createPropertyDefinitions () override
 
std::string getConfigDomain ()
 Retrieve config domain for this component as set in constructor. More...
 
std::string getConfigIdentifier ()
 Retrieve config identifier for this component as set in constructor. More...
 
std::string getConfigName ()
 Retrieve config name for this component as set in constructor. More...
 
virtual void icePropertiesInitialized ()
 
- Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT * addPlugin (const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)
 
Ice::CommunicatorPtr getCommunicator () const
 
std::unique_ptr< ManagedIceObjectPlugin > & getPluginPointer (std::type_info const &type, std::string const &prefix)
 
 ManagedIceObject ()
 Protected default constructor. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnDisconnectComponent ()
 
virtual void preOnExitComponent ()
 
bool removeProxyDependency (const std::string &name)
 This function removes the dependency of this object on the in parameter name specified object. More...
 
void setName (std::string name)
 Override name of well-known object. More...
 
void terminate ()
 Initiates termination of this IceManagedObject. More...
 
 ~ManagedIceObject () override
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 

Protected Attributes

bool automaticConversion
 
FPSCounter fpsCounter
 
float frameRate
 
std::map< std::string, PointCloudProviderInfopointCloudProviderInfoMap
 
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, PointCloudTransferStatsstatistics
 
std::mutex statisticsMutex
 
PointCloudProviderMap usedPointCloudProviders
 
- 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 PointCloudProcessor class provides an interface for access to PointCloudProviders via Ice and shared memory.

The interface defines a set of convenience methods which simplify the PointCloud access.

Definition at line 186 of file PointCloudProcessor.h.

Member Typedef Documentation

◆ PointCloudProviderMap

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

Definition at line 607 of file PointCloudProcessor.h.

Member Function Documentation

◆ enableResultPointCloudForInputProvider()

void enableResultPointCloudForInputProvider ( const std::string &  inputProviderName,
const std::string &  resultProviderName = "" 
)
inline

Definition at line 255 of file PointCloudProcessor.h.

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◆ enableResultPointClouds() [1/2]

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

Definition at line 398 of file PointCloudProcessor.cpp.

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◆ enableResultPointClouds() [2/2]

void enableResultPointClouds ( std::string  resultProviderName = "")
inline

Enables visualization.

Parameters
numberPointCloudsnumber of PointClouds provided by the visualization
PointCloud::Grid2DDimensionssize of PointClouds
PointCloudFormatInfotype of PointClouds
Returns
Information of the PointCloud provider

Definition at line 240 of file PointCloudProcessor.h.

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◆ getPointCloudFormat()

MetaPointCloudFormatPtr getPointCloudFormat ( std::string  providerName)

Definition at line 506 of file PointCloudProcessor.cpp.

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◆ getPointCloudFrame()

std::string getPointCloudFrame ( const std::string &  providerName,
const std::string &  defaultFrame = "" 
)

Get the reference frame of the point cloud by given provider.

Parameters
providerNameThe point cloud provider's name.
Returns
The point cloud's reference frame, or empty string if provider is unknown or has not specified a reference frame.

Definition at line 559 of file PointCloudProcessor.cpp.

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◆ getPointCloudProvider() [1/2]

PointCloudProviderInfo getPointCloudProvider ( bool  waitForProxy = false)

Definition at line 362 of file PointCloudProcessor.cpp.

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◆ getPointCloudProvider() [2/2]

PointCloudProviderInfo getPointCloudProvider ( std::string  name,
bool  waitForProxy = false 
)

Select an PointCloudProvider.

This method subscribes to an an PointCloudProvider and makes the provider available in the waitForPointClouds() and getPointClouds() methods.

Parameters
nameIce adapter name of the PointCloudProvider
waitForProxyIf true, this function blocks until the proxy for the pointCloudProvider becomes available.
Returns
Information of the PointCloud provider

Definition at line 304 of file PointCloudProcessor.cpp.

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◆ getPointCloudProviderNames()

std::vector< std::string > getPointCloudProviderNames ( ) const

Get the names of providers for which usingPointCloudProvider() has been called.

Definition at line 381 of file PointCloudProcessor.cpp.

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◆ getPointClouds() [1/2]

int getPointClouds ( const PointCloudPtrT &  pointCloudPtr)
inline

Poll PointClouds from provider.

Polls PointClouds from a used PointCloudProvider 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 PointCloud transmission. The transfer type is decided in the usingPointCloudProvider method and is set in the corresponding PointCloudFormatInfo.

Use this method if only one PointCloudProvider is used.

Parameters
ppPointCloudsPointCloud buffers where the PointClouds 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 PointCloudFormatInfo.
Returns
Number of PointClouds copied. Zero if no new PointClouds have been available.

Definition at line 373 of file PointCloudProcessor.h.

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◆ getPointClouds() [2/2]

bool getPointClouds ( std::string  providerName,
const PointCloudPtrT &  pointClouds 
)
inline

Poll PointClouds from provider.

Polls PointClouds from a used PointCloudProvider 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 PointCloud transmission. The transfer type is decided in the usingPointCloudProvider method and is set in the corresponding PointCloudFormatInfo.

Use this method if multiple PointCloudProviders are used.

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

Definition at line 414 of file PointCloudProcessor.h.

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◆ getPointCloudTransferStats()

PointCloudTransferStats getPointCloudTransferStats ( std::string  providerName,
bool  resetStats = false 
)

Retrieve statistics for a connection to an PointCloudProvider.

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

Definition at line 530 of file PointCloudProcessor.cpp.

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◆ isPointCloudProviderKnown()

bool isPointCloudProviderKnown ( const std::string &  providerName) const

Indicate whether the given name identifies a known point cloud provider.

Definition at line 392 of file PointCloudProcessor.cpp.

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◆ onConnectComponent()

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

Implements ManagedIceObject.

Reimplemented in PointCloudAndImageProcessor.

Definition at line 201 of file PointCloudProcessor.cpp.

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◆ onConnectPointCloudProcessor()

virtual void onConnectPointCloudProcessor ( )
protectedpure virtual

◆ onDisconnectComponent()

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

Reimplemented from ManagedIceObject.

Reimplemented in PointCloudAndImageProcessor.

Definition at line 217 of file PointCloudProcessor.cpp.

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◆ onDisconnectPointCloudProcessor()

virtual void onDisconnectPointCloudProcessor ( )
inlineprotectedvirtual

◆ onExitComponent()

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

Reimplemented from ManagedIceObject.

Reimplemented in PointCloudAndImageProcessor.

Definition at line 223 of file PointCloudProcessor.cpp.

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◆ onExitPointCloudProcessor()

◆ onInitComponent()

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

Implements ManagedIceObject.

Reimplemented in PointCloudAndImageProcessor.

Definition at line 123 of file PointCloudProcessor.cpp.

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◆ onInitPointCloudProcessor()

virtual void onInitPointCloudProcessor ( )
protectedpure virtual

◆ pointCloudHasNewData()

bool pointCloudHasNewData ( std::string  providerName)

Returns current status for the given point cloud.

True if new data is available, false otherwise.

This operation does not block. It just returns the current status. Use this if you want to get status of a point cloud without polling it for a given time like the other methods do.

Parameters
providerNameName of provider to wait for PointClouds
Returns
True if new data from the provider is available. False otherwise.

Definition at line 486 of file PointCloudProcessor.cpp.

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◆ process()

◆ provideResultPointClouds() [1/2]

void provideResultPointClouds ( const PointCloudPtrT &  pointClouds,
std::string  providerName = "" 
)
inline

sends result PointClouds for visualization

See also
enableVisualization
Parameters
PointCloudsarray of PointClouds to send

Definition at line 286 of file PointCloudProcessor.h.

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◆ provideResultPointClouds() [2/2]

void provideResultPointClouds ( const std::string &  providerName,
const PointCloudPtrT &  pointClouds 
)
inline

Definition at line 307 of file PointCloudProcessor.h.

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◆ releasePointCloudProvider()

void releasePointCloudProvider ( std::string  providerName)

Removes topic subscription and provider proxy dependency to release a point cloud provider.

After this, provider is not available in waitForPointClouds() or getPointClouds() calls.

Definition at line 275 of file PointCloudProcessor.cpp.

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◆ reportPointCloudAvailable()

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

Listener callback function.

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

Parameters
providerNameThe reporting PointCloud provider name

Definition at line 575 of file PointCloudProcessor.cpp.

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◆ runProcessor()

void runProcessor ( )
protectedvirtual
See also
RunningTask

Definition at line 236 of file PointCloudProcessor.cpp.

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◆ usingPointCloudProvider()

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.

Parameters
nameProvider name

Definition at line 261 of file PointCloudProcessor.cpp.

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◆ usingPointCloudProviderFromProperty()

void usingPointCloudProviderFromProperty ( const std::string &  prop)
inline

Definition at line 198 of file PointCloudProcessor.h.

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◆ waitForPointClouds() [1/2]

bool waitForPointClouds ( const std::string &  providerName,
int  milliseconds = 1000 
)

Wait for new PointClouds.

Wait for new PointCloud of an PointCloud provider. Use if multiple PointCloudProviders are used (see usingPointCloudProvider).

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

Definition at line 451 of file PointCloudProcessor.cpp.

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◆ waitForPointClouds() [2/2]

bool waitForPointClouds ( int  milliseconds = 1000)

Wait for new PointClouds.

Wait for new PointCloud of an PointCloud provider. Use if only one PointCloudProvider is used (see usingPointCloudProvider).

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

Definition at line 433 of file PointCloudProcessor.cpp.

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Field Documentation

◆ automaticConversion

bool automaticConversion
protected

Definition at line 626 of file PointCloudProcessor.h.

◆ fpsCounter

FPSCounter fpsCounter
protected

Definition at line 623 of file PointCloudProcessor.h.

◆ frameRate

float frameRate
protected

Definition at line 624 of file PointCloudProcessor.h.

◆ pointCloudProviderInfoMap

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

Definition at line 610 of file PointCloudProcessor.h.

◆ pointCloudProviderInfoMutex

std::shared_mutex pointCloudProviderInfoMutex
protected

Definition at line 611 of file PointCloudProcessor.h.

◆ processorTask

armarx::RunningTask<PointCloudProcessor>::pointer_type processorTask
protected

Definition at line 621 of file PointCloudProcessor.h.

◆ resultPointCloudProviders

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

Definition at line 614 of file PointCloudProcessor.h.

◆ resultProviderMutex

std::shared_mutex resultProviderMutex
protected

Definition at line 615 of file PointCloudProcessor.h.

◆ statistics

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

Definition at line 619 of file PointCloudProcessor.h.

◆ statisticsMutex

std::mutex statisticsMutex
protected

Definition at line 618 of file PointCloudProcessor.h.

◆ usedPointCloudProviders

PointCloudProviderMap usedPointCloudProviders
protected

Definition at line 608 of file PointCloudProcessor.h.


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