Stereo camera provider is based on IEEE1394 image provider with the restriction that the number of specified cameras must be two. More...

#include <VisionX/components/image_provider/StereoCameraProvider/StereoCameraProvider.h>

Inheritance diagram for StereoCameraProvider:

Public Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	getDefaultName () const override

bool	getImagesAreUndistorted (const Ice::Current &c=Ice::emptyCurrent) override
	Part of visionx::StereoCalibrationProvider interface. More...

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

visionx::StereoCalibration	getStereoCalibration (const Ice::Current &c=Ice::emptyCurrent) override
	Part of visionx::StereoCalibrationProvider interface. More...

void	onInitCapturingImageProvider () override

Public Member Functions inherited from IEEE1394ImageProvider
bool	capture (void **ppImageBuffers) override

void	onExitCapturingImageProvider () override

void	onStartCapture (float frameRate) override

void	onStopCapture () override

Public Member Functions inherited from CapturingImageProvider
void	startCapture (float framesPerSecond, const Ice::Current &c=Ice::emptyCurrent) override
	Starts image capturing. More...

void	stopCapture (const Ice::Current &c=Ice::emptyCurrent) override
	Stops image capturing. More...

Public Member Functions inherited from ImageProvider
armarx::Blob	getCompressedImagesAndMetaInfo (CompressionType, Ice::Int compressionQuality, armarx::MetaInfoSizeBasePtr &info, const Ice::Current &) override

ImageFormatInfo	getImageFormat (const Ice::Current &c=Ice::emptyCurrent) override
	Returns the entire image format info struct via Ice. More...

armarx::Blob	getImages (const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve images via Ice. More...

armarx::Blob	getImagesAndMetaInfo (armarx::MetaInfoSizeBasePtr &, const Ice::Current &) override

int	getNumberImages (const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve number of images handled by this provider. More...

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

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

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 Member Functions inherited from CapturingImageProvider
virtual void	capture ()

ImageSyncMode	getImageSyncMode ()
	Returns the image sync mode. More...

armarx::SharedMemoryScopedWriteLockPtr	getScopedWriteLock ()
	Retrieve scoped lock for writing to the memory. More...

void	onConnectImageProvider () override

void	onExitImageProvider () override

void	onInitImageProvider () override

virtual void	onStartCapturingImageProvider ()
	This is called when the Component::onConnectComponent() setup is called. More...

void	setImageSyncMode (ImageSyncMode imageSyncMode)
	Sets the image synchronization mode. More...

Protected Member Functions inherited from ImageProvider
armarx::UnitExecutionState	getExecutionState (const Ice::Current &c) override

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

imrec::Status	getImageRecordingStatus (const Ice::Current &) override

armarx::SharedMemoryScopedWriteLockPtr	getScopedWriteLock ()
	Retrieve scoped lock for writing to the memory. More...

void	imageRecordingRunningTask ()

void	init (const Ice::Current &c) override

bool	isExiting ()
	Retrieve whether provider is exiting. More...

void	onConnectComponent () override

void	onDisconnectComponent () override
	Hook for subclass. More...

virtual void	onDisconnectImageProvider ()

void	onExitComponent () override

void	onInitComponent () override

void	provideImages (CByteImage **images, const IceUtil::Time &imageTimestamp=IceUtil::Time())
	send ByteImages. More...

void	provideImages (CFloatImage **images, const IceUtil::Time &imageTimestamp=IceUtil::Time())
	send FloatImages. More...

void	provideImages (const std::vector< CByteImageUPtr > &images, const IceUtil::Time &imageTimestamp=IceUtil::Time())

void	provideImages (void **inputBuffers, const IceUtil::Time &imageTimestamp=IceUtil::Time())
	send images raw. More...

void	recordImages (const IceUtil::Time &image_timestamp)

void	release (const Ice::Current &c) override

void	request (const Ice::Current &c) override

void	setImageFormat (ImageDimension imageDimension, ImageType imageType, BayerPatternType bayerPatternType=visionx::eBayerPatternRg)
	Sets the image basic format data. More...

void	setNumberImages (int numberImages)
	Sets the number of images on each capture. More...

void	start (const Ice::Current &c) override

bool	startImageRecording (const imrec::Config &cfg, const Ice::Current &) override

void	stop (const Ice::Current &c) override

bool	stopImageRecording (const Ice::Current &) override

void	updateTimestamp (const armarx::DateTime &timestamp, bool threadSafe=true)

void	updateTimestamp (Ice::Long timestamp, bool threadSafe=true)
	Updates the timestamp of the currently captured image. More...

void	updateTimestamp (IceUtil::Time timestamp, bool threadSafe=true)

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

Protected Attributes inherited from IEEE1394ImageProvider
visionx::BayerPatternType	bayerPatternType
	Specific bayer pattern type, if ColorMode is BayerPattern. More...

ColorFormat	colorFormat
	Camera color mode and resulting image time. More...

CLinux1394CaptureThreaded2 *	ieee1394Capturer
	IEEE1394 Capture. More...

bool	isFormat7Mode
	Indicate whether using format 7 modes or not. More...

CByteImage **	ppImages
	Captured images. More...

std::vector< std::string >	uids
	Camera UID list. More...

visionx::ImageDimension	videoDimension
	Video dimension data. More...

Protected Attributes inherited from CapturingImageProvider
bool	captureEnabled
	Indicates that capturing is enabled and running. More...

std::mutex	captureMutex
	mutex for capturing for proper exit More...

armarx::RunningTask< CapturingImageProvider >::pointer_type	captureTask
	Capture thread. More...

FPSCounter	fpsCounter
	FPS manager. More...

float	frameRate
	Required frame rate. More...

ImageSyncMode	imageSyncMode
	Image synchronization information. More...

Protected Attributes inherited from ImageProvider
void **	imageBuffers
	Image buffer memory. More...

ImageProcessorInterfacePrx	imageProcessorProxy
	Ice proxy of the image processor interface. More...

armarx::IceSharedMemoryProvider< unsigned char >::pointer_type	sharedMemoryProvider
	shared memory provider More...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Stereo camera provider is based on IEEE1394 image provider with the restriction that the number of specified cameras must be two.

This provider supplies the processor with a stereo calibration to perform stereo vision.

Component properties:

VisionX.StereoCameraProvider.CalibrationFile: The stereo calibration file of the stereo system.

Definition at line 63 of file StereoCameraProvider.h.

Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from IEEE1394ImageProvider.

Definition at line 115 of file StereoCameraProvider.h.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: armarx::Component::getDefaultName()

Reimplemented from IEEE1394ImageProvider.

Definition at line 101 of file StereoCameraProvider.h.

◆ getImagesAreUndistorted()

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

inlineoverride

Part of visionx::StereoCalibrationProvider interface.

Returns whether images are undistorted

Returns: bool

Definition at line 86 of file StereoCameraProvider.h.

◆ getReferenceFrame()

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

inlineoverride

Definition at line 92 of file StereoCameraProvider.h.

◆ getStereoCalibration()

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

override

Part of visionx::StereoCalibrationProvider interface.

Returns the VisionX StereoCalibration, especially vis ICE

Returns: visionx::StereoCalibration

Definition at line 77 of file StereoCameraProvider.cpp.

◆ onInitCapturingImageProvider()

void onInitCapturingImageProvider ( )

overridevirtual

See also: ImageProviderBase::onInitImageProvider()

Reimplemented from IEEE1394ImageProvider.

Definition at line 42 of file StereoCameraProvider.cpp.

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

VisionX/components/image_provider/StereoCameraProvider/StereoCameraProvider.h
VisionX/components/image_provider/StereoCameraProvider/StereoCameraProvider.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ getImagesAreUndistorted()

◆ getReferenceFrame()

◆ getStereoCalibration()

◆ onInitCapturingImageProvider()