SegmentSpatialRelations Class Reference

Brief description of class SegmentSpatialRelations. More...

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

+ Inheritance diagram for SegmentSpatialRelations:

Public Member Functions

std::string getDefaultName () const 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< 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
 

Protected Member Functions

armarx::PropertyDefinitionsPtr createPropertyDefinitions () override
 
void onConnectPointCloudProcessor () override
 
void onDisconnectPointCloudProcessor () override
 
void onExitPointCloudProcessor () override
 
void onInitPointCloudProcessor () override
 
void process () 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 LogSenderPtrgetLogSender () 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, 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
 

Detailed Description

Brief description of class SegmentSpatialRelations.

Detailed description of class SegmentSpatialRelations.

Definition at line 63 of file SegmentSpatialRelations.h.

Member Function Documentation

◆ createPropertyDefinitions()

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

Reimplemented from Component.

Definition at line 132 of file SegmentSpatialRelations.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const
overridevirtual

◆ onConnectPointCloudProcessor()

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

Implements PointCloudProcessor.

Definition at line 70 of file SegmentSpatialRelations.cpp.

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◆ onDisconnectPointCloudProcessor()

void onDisconnectPointCloudProcessor ( )
overrideprotectedvirtual

◆ onExitPointCloudProcessor()

void onExitPointCloudProcessor ( )
overrideprotectedvirtual

◆ onInitPointCloudProcessor()

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

Implements PointCloudProcessor.

Definition at line 62 of file SegmentSpatialRelations.cpp.

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◆ process()

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

Implements PointCloudProcessor.

Definition at line 89 of file SegmentSpatialRelations.cpp.

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