#include <ArmarXSimulation/components/DepthImageProviderDynamicSimulation/DepthImageProviderDynamicSimulation.h>

Inheritance diagram for DepthImageProviderDynamicSimulation:

Public Member Functions
	DepthImageProviderDynamicSimulation ()=default

std::string	getDefaultName () const override
	Retrieve default name of component. More...

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

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

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

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

	~DepthImageProviderDynamicSimulation () override

Public Member Functions inherited from CapturingPointCloudProvider
void	changeFrameRate (Ice::Float framesPerSecond, const Ice::Current &c=Ice::emptyCurrent) override
	set a new frame rate More...

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

void	startCapture (const Ice::Current &c=Ice::emptyCurrent) override
	Starts point cloud capturing. More...

void	startCaptureForNumFrames (int numFrames, const Ice::Current &c=Ice::emptyCurrent) override
	Starts point cloud capturing. More...

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

Public Member Functions inherited from PointCloudProvider
void	enablePointCloudVisualization (bool enable, bool preferRGB, const Ice::Current &c=Ice::emptyCurrent)

armarx::Blob	getPointCloud (MetaPointCloudFormatPtr &info, const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve point clouds via Ice. More...

MetaPointCloudFormatPtr	getPointCloudFormat (const Ice::Current &c=Ice::emptyCurrent) override
	Returns the point cloud format info struct via Ice. 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

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

Protected Types
using	PointT = pcl::PointXYZRGBA

Protected Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

bool	doCapture () override
	Main capturing function. More...

void	onConnectComponent () override

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

void	onExitCapturingPointCloudProvider () override
	This is called when the Component::onExitComponent() setup is called. More...

void	onExitComponent () override

void	onExitImageProvider () override
	This is called when the Component::onExitComponent() setup is called. More...

void	onInitCapturingPointCloudProvider () override
	This is called when the Component::onInitComponent() is called. More...

void	onInitComponent () override

void	onInitImageProvider () override
	This is called when the Component::onInitComponent() is called. More...

void	onStartCapture (float frameRate) override
	This is called when the point cloud provider capturing has been started. More...

void	onStopCapture () override
	This is called when the point cloud provider capturing has been stopped. More...

bool	render ()

void	syncVisu ()

Protected Member Functions inherited from CapturingPointCloudProvider
virtual void	capture ()

ImageSyncMode	getPointCloudSyncMode ()
	Returns the point cloud sync mode. More...

void	onConnectPointCloudProvider () override

void	onExitPointCloudProvider () override

void	onInitPointCloudProvider () override

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

void	setPointCloudSyncMode (ImageSyncMode pointCloudSyncMode)
	Sets the point cloud synchronization mode. More...

Protected Member Functions inherited from PointCloudProvider
virtual MetaPointCloudFormatPtr	getDefaultPointCloudFormat ()
	default point cloud format used to initialize shared memory More...

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

template<typename PointCloudPtrT >
void	providePointCloud (PointCloudPtrT pointCloudPtr)
	offer the new point cloud. More...

void	updateComponentMetaInfo (const MetaPointCloudFormatPtr &info)

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 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...

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

virtual void	onDisconnectImageProvider ()

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 Attributes
float	baseline

VirtualRobot::RobotNodePtr	cameraNode

std::string	camNodeName

std::mutex	captureMutex

float	clipDrawnCloudXHi

float	clipDrawnCloudXLo

float	clipDrawnCloudYHi

float	clipDrawnCloudYLo

float	clipDrawnCloudZHi

float	clipDrawnCloudZLo

bool	clipPointCloud

DebugDrawerInterfacePrx	debugDrawer

std::string	debugDrawerTopicName

std::vector< float >	depthBuffer

std::unique_ptr< CFloatImage >	dFloatImage

std::unique_ptr< CByteImage >	dImage

std::normal_distribution< double >	distribution

bool	drawPointCloud

bool	floatImageMode {false}

float	focalLength

std::default_random_engine	generator

short	height

CByteImage *	imgPtr [2]

CFloatImage *	imgPtrFlt [1]

std::chrono::high_resolution_clock::time_point	lastUpdate

float	nanValue

float	noise = 0.0f

std::shared_ptr< SoOffscreenRenderer >	offscreenRenderer

pcl::PointCloud< PointT >::Ptr	pointcloud

std::vector< Eigen::Vector3f >	pointCloudBuffer

unsigned int	pointCloudDrawDelay

std::size_t	pointCloudPointSize

std::size_t	pointSkip

std::vector< float >	randValues

std::int32_t	renderTimesCount

std::vector< unsigned char >	rgbBuffer

std::unique_ptr< CByteImage >	rgbImage

std::string	robotName

ArmarXPhysicsWorldVisualizationPtr	simVisu

std::int64_t	sumRenderTimes

std::int64_t	sumRenderTimesSquared

float	vertFov

SoSeparator *	visualization {nullptr}

short	width

float	zFar

float	zNear

Protected Attributes inherited from CapturingPointCloudProvider
std::atomic_bool	captureEnabled
	Indicates that capturing is enabled and running. More...

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

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

FPSCounter	fpsCounter
	FPS manager. More...

float	frameRate
	Required frame rate. More...

int	numFramesToCapture
	Number of frames to capture. More...

ImageSyncMode	pointCloudSyncMode
	Point cloud synchronization information. More...

Protected Attributes inherited from PointCloudProvider
PointCloudProcessorInterfacePrx	pointCloudProcessorProxy
	Ice proxy of the point cloud processor interface. More...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

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...

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

Definition at line 55 of file DepthImageProviderDynamicSimulation.h.

Member Typedef Documentation

◆ PointT

using PointT = pcl::PointXYZRGBA

protected

Definition at line 129 of file DepthImageProviderDynamicSimulation.h.

Constructor & Destructor Documentation

◆ DepthImageProviderDynamicSimulation()

DepthImageProviderDynamicSimulation ( )

default

◆ ~DepthImageProviderDynamicSimulation()

~DepthImageProviderDynamicSimulation ( )

override

Definition at line 252 of file DepthImageProviderDynamicSimulation.cpp.

Member Function Documentation

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 430 of file DepthImageProviderDynamicSimulation.cpp.

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◆ doCapture()

bool doCapture ( )

overrideprotectedvirtual

Main capturing function.

Parameters

ppPointCloudBuffers Point cloud pointer array where the captured point clouds need to be copied into

Implements CapturingPointCloudProvider.

Definition at line 436 of file DepthImageProviderDynamicSimulation.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

overridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Definition at line 257 of file DepthImageProviderDynamicSimulation.cpp.

◆ getImagesAreUndistorted()

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

override

Definition at line 315 of file DepthImageProviderDynamicSimulation.cpp.

◆ getReferenceFrame()

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

override

Definition at line 321 of file DepthImageProviderDynamicSimulation.cpp.

◆ getStereoCalibration()

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

override

Definition at line 269 of file DepthImageProviderDynamicSimulation.cpp.

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◆ hasSharedMemorySupport()

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

override

Definition at line 263 of file DepthImageProviderDynamicSimulation.cpp.

◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: Component::onConnectComponent()

Reimplemented from ImageProvider.

Definition at line 193 of file DepthImageProviderDynamicSimulation.cpp.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also: onConnectComponent

Reimplemented from ImageProvider.

Definition at line 417 of file DepthImageProviderDynamicSimulation.cpp.

◆ onExitCapturingPointCloudProvider()

void onExitCapturingPointCloudProvider ( )

overrideprotectedvirtual

This is called when the Component::onExitComponent() setup is called.

Implement this method in the PointCloudProvider in order clean up right before terminating.

Implements CapturingPointCloudProvider.

Definition at line 332 of file DepthImageProviderDynamicSimulation.cpp.

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◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also: Component::onExitComponent()

Reimplemented from ImageProvider.

Definition at line 209 of file DepthImageProviderDynamicSimulation.cpp.

◆ onExitImageProvider()

void onExitImageProvider ( )

overrideprotectedvirtual

This is called when the Component::onExitComponent() setup is called.

Implement this method in the ImageProvider in order clean up right before terminating.

Implements ImageProvider.

Definition at line 425 of file DepthImageProviderDynamicSimulation.cpp.

◆ onInitCapturingPointCloudProvider()

void onInitCapturingPointCloudProvider ( )

overrideprotectedvirtual

This is called when the Component::onInitComponent() is called.

Implement this method in the PointCloudProvider in order to setup its parameters. Use this to set the Point cloud format.

Implements CapturingPointCloudProvider.

Definition at line 327 of file DepthImageProviderDynamicSimulation.cpp.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: Component::onInitComponent()

Reimplemented from ImageProvider.

Definition at line 138 of file DepthImageProviderDynamicSimulation.cpp.

◆ onInitImageProvider()

void onInitImageProvider ( )

overrideprotectedvirtual

This is called when the Component::onInitComponent() is called.

Implement this method in the ImageProvider in order to setup its parameters. Use this to set the image format.

Implements ImageProvider.

Definition at line 357 of file DepthImageProviderDynamicSimulation.cpp.

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◆ onStartCapture()

void onStartCapture ( float framesPerSecond )

overrideprotectedvirtual

This is called when the point cloud provider capturing has been started.

Implement this method in the PointCloudProvider in order to reset prvider's state.

Parameters

framesPerSecond capturing fps

Exceptions

visionx::PointCloudProviderResolutionNotSupportedException
visionx::PointCloudProviderFrameRateNotSupportedException
visionx::PointCloudProviderStartingCaptureFailedException

Implements CapturingPointCloudProvider.

Definition at line 218 of file DepthImageProviderDynamicSimulation.cpp.

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◆ onStopCapture()

void onStopCapture ( )

overrideprotectedvirtual

This is called when the point cloud provider capturing has been stopped.

Implement this method in the PointCloudProvider in order to clean up after stopping.

Implements CapturingPointCloudProvider.

Definition at line 248 of file DepthImageProviderDynamicSimulation.cpp.

◆ render()

bool render ( )

protected

Definition at line 553 of file DepthImageProviderDynamicSimulation.cpp.

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◆ syncVisu()

void syncVisu ( )

protected

Definition at line 708 of file DepthImageProviderDynamicSimulation.cpp.

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Member Data Documentation

◆ baseline

float baseline

protected

Definition at line 103 of file DepthImageProviderDynamicSimulation.h.

◆ cameraNode

VirtualRobot::RobotNodePtr cameraNode

protected

Definition at line 109 of file DepthImageProviderDynamicSimulation.h.

◆ camNodeName

std::string camNodeName

protected

Definition at line 108 of file DepthImageProviderDynamicSimulation.h.

◆ captureMutex

std::mutex captureMutex

protected

Definition at line 98 of file DepthImageProviderDynamicSimulation.h.

◆ clipDrawnCloudXHi

float clipDrawnCloudXHi

protected

Definition at line 146 of file DepthImageProviderDynamicSimulation.h.

◆ clipDrawnCloudXLo

float clipDrawnCloudXLo

protected

Definition at line 142 of file DepthImageProviderDynamicSimulation.h.

◆ clipDrawnCloudYHi

float clipDrawnCloudYHi

protected

Definition at line 147 of file DepthImageProviderDynamicSimulation.h.

◆ clipDrawnCloudYLo

float clipDrawnCloudYLo

protected

Definition at line 143 of file DepthImageProviderDynamicSimulation.h.

◆ clipDrawnCloudZHi

float clipDrawnCloudZHi

protected

Definition at line 148 of file DepthImageProviderDynamicSimulation.h.

◆ clipDrawnCloudZLo

float clipDrawnCloudZLo

protected

Definition at line 144 of file DepthImageProviderDynamicSimulation.h.

◆ clipPointCloud

bool clipPointCloud

protected

Definition at line 140 of file DepthImageProviderDynamicSimulation.h.

◆ debugDrawer

DebugDrawerInterfacePrx debugDrawer

protected

Definition at line 135 of file DepthImageProviderDynamicSimulation.h.

◆ debugDrawerTopicName

std::string debugDrawerTopicName

protected

Definition at line 134 of file DepthImageProviderDynamicSimulation.h.

◆ depthBuffer

std::vector<float> depthBuffer

protected

Definition at line 120 of file DepthImageProviderDynamicSimulation.h.

◆ dFloatImage

std::unique_ptr<CFloatImage> dFloatImage

protected

Definition at line 116 of file DepthImageProviderDynamicSimulation.h.

◆ dImage

std::unique_ptr<CByteImage> dImage

protected

Definition at line 115 of file DepthImageProviderDynamicSimulation.h.

◆ distribution

std::normal_distribution<double> distribution

protected

Definition at line 154 of file DepthImageProviderDynamicSimulation.h.

◆ drawPointCloud

bool drawPointCloud

protected

Definition at line 133 of file DepthImageProviderDynamicSimulation.h.

◆ floatImageMode

bool floatImageMode {false}

protected

Definition at line 112 of file DepthImageProviderDynamicSimulation.h.

◆ focalLength

float focalLength

protected

Definition at line 126 of file DepthImageProviderDynamicSimulation.h.

◆ generator

std::default_random_engine generator

protected

Definition at line 155 of file DepthImageProviderDynamicSimulation.h.

◆ height

short height

protected

Definition at line 101 of file DepthImageProviderDynamicSimulation.h.

◆ imgPtr

CByteImage* imgPtr[2]

protected

Definition at line 117 of file DepthImageProviderDynamicSimulation.h.

◆ imgPtrFlt

CFloatImage* imgPtrFlt[1]

protected

Definition at line 118 of file DepthImageProviderDynamicSimulation.h.

◆ lastUpdate

std::chrono::high_resolution_clock::time_point lastUpdate

protected

Definition at line 137 of file DepthImageProviderDynamicSimulation.h.

◆ nanValue

float nanValue

protected

Definition at line 127 of file DepthImageProviderDynamicSimulation.h.

◆ noise

float noise = 0.0f

protected

Definition at line 152 of file DepthImageProviderDynamicSimulation.h.

◆ offscreenRenderer

std::shared_ptr<SoOffscreenRenderer> offscreenRenderer

protected

Definition at line 156 of file DepthImageProviderDynamicSimulation.h.

◆ pointcloud

pcl::PointCloud<PointT>::Ptr pointcloud

protected

Definition at line 130 of file DepthImageProviderDynamicSimulation.h.

◆ pointCloudBuffer

std::vector<Eigen::Vector3f> pointCloudBuffer

protected

Definition at line 121 of file DepthImageProviderDynamicSimulation.h.

◆ pointCloudDrawDelay

unsigned int pointCloudDrawDelay

protected

Definition at line 136 of file DepthImageProviderDynamicSimulation.h.

◆ pointCloudPointSize

std::size_t pointCloudPointSize

protected

Definition at line 138 of file DepthImageProviderDynamicSimulation.h.

◆ pointSkip

std::size_t pointSkip

protected

Definition at line 150 of file DepthImageProviderDynamicSimulation.h.

◆ randValues

std::vector<float> randValues

protected

Definition at line 153 of file DepthImageProviderDynamicSimulation.h.

◆ renderTimesCount

std::int32_t renderTimesCount

protected

Definition at line 160 of file DepthImageProviderDynamicSimulation.h.

◆ rgbBuffer

std::vector<unsigned char> rgbBuffer

protected

Definition at line 119 of file DepthImageProviderDynamicSimulation.h.

◆ rgbImage

std::unique_ptr<CByteImage> rgbImage

protected

Definition at line 114 of file DepthImageProviderDynamicSimulation.h.

◆ robotName

std::string robotName

protected

Definition at line 107 of file DepthImageProviderDynamicSimulation.h.

◆ simVisu

ArmarXPhysicsWorldVisualizationPtr simVisu

protected

Definition at line 105 of file DepthImageProviderDynamicSimulation.h.

◆ sumRenderTimes

std::int64_t sumRenderTimes

protected

Definition at line 158 of file DepthImageProviderDynamicSimulation.h.

◆ sumRenderTimesSquared

std::int64_t sumRenderTimesSquared

protected

Definition at line 159 of file DepthImageProviderDynamicSimulation.h.

◆ vertFov

float vertFov

protected

Definition at line 125 of file DepthImageProviderDynamicSimulation.h.

◆ visualization

SoSeparator* visualization {nullptr}

protected

Definition at line 110 of file DepthImageProviderDynamicSimulation.h.

◆ width

short width

protected

Definition at line 100 of file DepthImageProviderDynamicSimulation.h.

◆ zFar

float zFar

protected

Definition at line 124 of file DepthImageProviderDynamicSimulation.h.

◆ zNear

float zNear

protected

Definition at line 123 of file DepthImageProviderDynamicSimulation.h.

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

ArmarXSimulation/components/DepthImageProviderDynamicSimulation/DepthImageProviderDynamicSimulation.h
ArmarXSimulation/components/DepthImageProviderDynamicSimulation/DepthImageProviderDynamicSimulation.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ PointT

Constructor & Destructor Documentation

◆ DepthImageProviderDynamicSimulation()

◆ ~DepthImageProviderDynamicSimulation()

Member Function Documentation

◆ createPropertyDefinitions()

◆ doCapture()

◆ getDefaultName()

◆ getImagesAreUndistorted()

◆ getReferenceFrame()

◆ getStereoCalibration()

◆ hasSharedMemorySupport()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitCapturingPointCloudProvider()

◆ onExitComponent()

◆ onExitImageProvider()

◆ onInitCapturingPointCloudProvider()

◆ onInitComponent()

◆ onInitImageProvider()

◆ onStartCapture()

◆ onStopCapture()

◆ render()

◆ syncVisu()

Member Data Documentation

◆ baseline

◆ cameraNode

◆ camNodeName

◆ captureMutex

◆ clipDrawnCloudXHi

◆ clipDrawnCloudXLo

◆ clipDrawnCloudYHi

◆ clipDrawnCloudYLo

◆ clipDrawnCloudZHi

◆ clipDrawnCloudZLo

◆ clipPointCloud

◆ debugDrawer

◆ debugDrawerTopicName

◆ depthBuffer

◆ dFloatImage

◆ dImage

◆ distribution

◆ drawPointCloud

◆ floatImageMode

◆ focalLength

◆ generator

◆ height

◆ imgPtr

◆ imgPtrFlt

◆ lastUpdate

◆ nanValue

◆ noise

◆ offscreenRenderer

◆ pointcloud

◆ pointCloudBuffer

◆ pointCloudDrawDelay

◆ pointCloudPointSize

◆ pointSkip

◆ randValues

◆ renderTimesCount

◆ rgbBuffer

◆ rgbImage

◆ robotName

◆ simVisu

◆ sumRenderTimes

◆ sumRenderTimesSquared

◆ vertFov

◆ visualization

◆ width

◆ zFar

◆ zNear