A brief description. More...

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

Inheritance diagram for PointCloudSegmenter:

Public Member Functions
void	changePointCloudProvider (const std::string &providerName, const Ice::Current &c=Ice::emptyCurrent) override

std::string	getDefaultName () const override

	PointCloudSegmenter ()

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

Public Member Functions inherited from LightweightRemoteGuiComponentPluginUser
	LightweightRemoteGuiComponentPluginUser ()

void	RemoteGui_createTab (std::string const &name, RemoteGui::Client::Widget const &rootWidget, RemoteGui::Client::Tab *tab)

bool	RemoteGui_isRunning ()

void	RemoteGui_run ()

void	RemoteGui_startRunningTask ()

Protected Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

void	createRemoteGuiTab ()

void	disablePipelineStep (const Ice::Current &c=Ice::emptyCurrent) override

void	enablePipelineStep (const Ice::Current &c=Ice::emptyCurrent) override

armarx::TimestampBasePtr	getLastProcessedTimestamp (const Ice::Current &c=Ice::emptyCurrent) override

LccpParameters	getLccpParameters (const Ice::Current &c=Ice::emptyCurrent) override

bool	isPipelineStepEnabled (const Ice::Current &c=Ice::emptyCurrent) override

void	loadLccpParametersFromFile (const std::string &filename, const Ice::Current &c=Ice::emptyCurrent) override

void	loadRgParametersFromFile (const std::string &filename, const Ice::Current &c=Ice::emptyCurrent) override

void	onConnectPointCloudProcessor () override

void	onDisconnectPointCloudProcessor () override

void	onExitPointCloudProcessor () override

void	onInitPointCloudProcessor () override

void	process () override

void	RemoteGui_update () override

void	setLccpParameters (const LccpParameters &parameters, const Ice::Current &c=Ice::emptyCurrent) override

void	setRgParameters (float smoothnessThreshold, float curvatureThreshold, const Ice::Current &c=Ice::emptyCurrent) override

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)

Public Attributes inherited from LightweightRemoteGuiComponentPluginUser
plugins::LightweightRemoteGuiComponentPlugin *	plugin = nullptr

int	RemoteGui_updatePeriodInMS = 20

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

A brief description.

Detailed Description

Definition at line 123 of file PointCloudSegmenter.h.

Constructor & Destructor Documentation

◆ PointCloudSegmenter()

PointCloudSegmenter ( )

Definition at line 42 of file PointCloudSegmenter.cpp.

Member Function Documentation

◆ changePointCloudProvider()

void changePointCloudProvider	(	const std::string &	providerName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 306 of file PointCloudSegmenter.cpp.

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◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 285 of file PointCloudSegmenter.cpp.

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◆ createRemoteGuiTab()

void createRemoteGuiTab ( )

protected

Definition at line 454 of file PointCloudSegmenter.cpp.

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◆ disablePipelineStep()

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

overrideprotected

Definition at line 298 of file PointCloudSegmenter.cpp.

◆ enablePipelineStep()

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

overrideprotected

Definition at line 290 of file PointCloudSegmenter.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

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

Implements ManagedIceObject.

Definition at line 134 of file PointCloudSegmenter.h.

◆ getLastProcessedTimestamp()

armarx::TimestampBasePtr getLastProcessedTimestamp ( const Ice::Current & c = Ice::emptyCurrent )

overrideprotected

Definition at line 378 of file PointCloudSegmenter.cpp.

◆ getLccpParameters()

LccpParameters getLccpParameters ( const Ice::Current & c = Ice::emptyCurrent )

overrideprotected

Definition at line 415 of file PointCloudSegmenter.cpp.

◆ isPipelineStepEnabled()

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

overrideprotected

Definition at line 372 of file PointCloudSegmenter.cpp.

◆ loadLccpParametersFromFile()

void loadLccpParametersFromFile	(	const std::string &	filename,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

overrideprotected

Definition at line 392 of file PointCloudSegmenter.cpp.

◆ loadRgParametersFromFile()

void loadRgParametersFromFile	(	const std::string &	filename,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

overrideprotected

Definition at line 438 of file PointCloudSegmenter.cpp.

◆ onConnectPointCloudProcessor()

void onConnectPointCloudProcessor ( )

overrideprotectedvirtual

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

Implements PointCloudProcessor.

Definition at line 102 of file PointCloudSegmenter.cpp.

◆ onDisconnectPointCloudProcessor()

void onDisconnectPointCloudProcessor ( )

overrideprotectedvirtual

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

Reimplemented from PointCloudProcessor.

Definition at line 125 of file PointCloudSegmenter.cpp.

◆ onExitPointCloudProcessor()

void onExitPointCloudProcessor ( )

overrideprotectedvirtual

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

Implements PointCloudProcessor.

Definition at line 129 of file PointCloudSegmenter.cpp.

◆ onInitPointCloudProcessor()

void onInitPointCloudProcessor ( )

overrideprotectedvirtual

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

Implements PointCloudProcessor.

Definition at line 48 of file PointCloudSegmenter.cpp.

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◆ process()

void process ( )

overrideprotectedvirtual

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

Implements PointCloudProcessor.

Definition at line 152 of file PointCloudSegmenter.cpp.

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◆ RemoteGui_update()

void RemoteGui_update ( )

overrideprotectedvirtual

Implements LightweightRemoteGuiComponentPluginUser.

Definition at line 480 of file PointCloudSegmenter.cpp.

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◆ setLccpParameters()

void setLccpParameters	(	const LccpParameters &	parameters,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

overrideprotected

Definition at line 384 of file PointCloudSegmenter.cpp.

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◆ setRgParameters()

void setRgParameters	(	float	smoothnessThreshold,
		float	curvatureThreshold,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

overrideprotected

Definition at line 432 of file PointCloudSegmenter.cpp.

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

VisionX/components/pointcloud_processor/PointCloudSegmenter/PointCloudSegmenter.h
VisionX/components/pointcloud_processor/PointCloudSegmenter/PointCloudSegmenter.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PointCloudSegmenter()

Member Function Documentation

◆ changePointCloudProvider()

◆ createPropertyDefinitions()

◆ createRemoteGuiTab()

◆ disablePipelineStep()

◆ enablePipelineStep()

◆ getDefaultName()

◆ getLastProcessedTimestamp()

◆ getLccpParameters()

◆ isPipelineStepEnabled()

◆ loadLccpParametersFromFile()

◆ loadRgParametersFromFile()

◆ onConnectPointCloudProcessor()

◆ onDisconnectPointCloudProcessor()

◆ onExitPointCloudProcessor()

◆ onInitPointCloudProcessor()

◆ process()

◆ RemoteGui_update()

◆ setLccpParameters()

◆ setRgParameters()