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

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

Inheritance diagram for PointCloudProcessor:

Public Member Functions
template<typename PointT>
void	enableResultPointCloudForInputProvider (const std::string &inputProviderName, const std::string &resultProviderName="")

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

template<typename PointT>
void	enableResultPointClouds (std::string resultProviderName="")
	Enables visualization.

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.

PointCloudProviderInfo	getPointCloudProvider (bool waitForProxy=false)

PointCloudProviderInfo	getPointCloudProvider (std::string name, bool waitForProxy=false)
	Select an PointCloudProvider.

std::vector< std::string >	getPointCloudProviderNames () const
	Get the names of providers for which `usingPointCloudProvider()` has been called.

template<typename PointCloudPtrT>
int	getPointClouds (const PointCloudPtrT &pointCloudPtr)
	Poll PointClouds from provider.

template<typename PointCloudPtrT>
bool	getPointClouds (std::string providerName, const PointCloudPtrT &pointClouds)
	Poll PointClouds from provider.

PointCloudTransferStats	getPointCloudTransferStats (std::string providerName, bool resetStats=false)
	Retrieve statistics for a connection to an PointCloudProvider.

bool	isPointCloudProviderKnown (const std::string &providerName) const
	Indicate whether the given name identifies a known point cloud provider.

bool	pointCloudHasNewData (std::string providerName)
	Returns current status for the given point cloud.

template<typename PointCloudPtrT>
void	provideResultPointClouds (const PointCloudPtrT &pointClouds, std::string providerName="")
	sends result PointClouds for visualization

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.

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.

void	usingPointCloudProviderFromProperty (const std::string &prop)

bool	waitForPointClouds (const std::string &providerName, int milliseconds=1000)
	Wait for new PointClouds.

bool	waitForPointClouds (int milliseconds=1000)
	Wait for new PointClouds.

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.

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function

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.

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.

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.

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property.

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.

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property.

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)

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)

virtual std::string	getDefaultName () const =0
	Retrieve default name of component.

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object.

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler

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.

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`.

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)

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).

template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject.

template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.

template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`.

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.

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.

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.

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.

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.

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.

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.

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval.

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods.

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.

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.

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Protected Types
using	PointCloudProviderMap

Protected Member Functions
virtual void	onConnectComponent () override

virtual void	onConnectPointCloudProcessor ()=0
	Implement this method in the PointCloudProcessor in order execute parts when the component is fully initialized and about to run.

virtual void	onDisconnectComponent () override

virtual void	onDisconnectPointCloudProcessor ()
	Implement this method in the PointCloudProcessor in order execute parts when the component looses network connectivity.

virtual void	onExitComponent () override

virtual void	onExitPointCloudProcessor ()=0
	Exit the ImapeProcessor component.

virtual void	onInitComponent () override

virtual void	onInitPointCloudProcessor ()=0
	Setup the vision component.

virtual void	process ()=0
	Process the vision component.

void	reportPointCloudAvailable (const std::string &providerName, const Ice::Current &c=Ice::emptyCurrent) override
	Listener callback function.

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.

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead.

PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor.

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor.

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor.

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.

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.

void	setName (std::string name)
	Override name of well-known object.

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender.

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
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

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.

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.

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.

Detailed Description

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

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

Member Typedef Documentation

◆ PointCloudProviderMap

using PointCloudProviderMap

protected

Initial value:

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

Member Function Documentation

◆ enableResultPointCloudForInputProvider()

template<typename PointT>

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

inline

◆ enableResultPointClouds() [1/2]

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

◆ enableResultPointClouds() [2/2]

template<typename PointT>

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

inline

Enables visualization.

Parameters

numberPointClouds	number of PointClouds provided by the visualization
PointCloud::Grid2DDimensions	size of PointClouds
PointCloudFormatInfo	type of PointClouds

Returns: Information of the PointCloud provider

◆ getPointCloudFormat()

MetaPointCloudFormatPtr getPointCloudFormat ( std::string providerName )

◆ getPointCloudFrame()

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

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

Parameters

providerName The point cloud provider's name.

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

◆ getPointCloudProvider() [1/2]

PointCloudProviderInfo getPointCloudProvider ( bool waitForProxy = false )

◆ getPointCloudProvider() [2/2]

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

Select an PointCloudProvider.

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

Parameters

name	Ice adapter name of the PointCloudProvider
waitForProxy	If true, this function blocks until the proxy for the pointCloudProvider becomes available.

Returns: Information of the PointCloud provider

◆ getPointCloudProviderNames()

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

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

◆ getPointClouds() [1/2]

template<typename PointCloudPtrT>

int getPointClouds ( const PointCloudPtrT & pointCloudPtr )

inline

Poll PointClouds from provider.

Polls PointClouds from a used PointCloudProvider either via shared memory or via Ice. If both components run on the same machine, shared memory transfer is used. Otherwise Ice is used for PointCloud transmission. The transfer type is decided in the usingPointCloudProvider method and is set in the corresponding PointCloudFormatInfo.

Use this method if only one PointCloudProvider is used.

Parameters

ppPointClouds PointCloud buffers where the PointClouds are copied to. The buffers have to be initialized by the component. All required information for the allocation of the buffers can be found in the corresponding PointCloudFormatInfo.

Returns: Number of PointClouds copied. Zero if no new PointClouds have been available.

◆ getPointClouds() [2/2]

template<typename PointCloudPtrT>

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

inline

Poll PointClouds from provider.

Polls PointClouds from a used PointCloudProvider either via shared memory or via Ice. If both components run on the same machine, shared memory transfer is used. Otherwise Ice is used for PointCloud transmission. The transfer type is decided in the usingPointCloudProvider method and is set in the corresponding PointCloudFormatInfo.

Use this method if multiple PointCloudProviders are used.

Parameters

providerName	Name of provider to poll from
ppPointClouds	PointCloud buffers where the PointClouds are copied to. The buffers have to be initialized by the component. All required information for the allocation PointCloudProcessor.h of the buffers can be found in the corresponding PointCloudFormatInfo.

Returns: Number of PointClouds copied. Zero if no new PointClouds have been available.

◆ getPointCloudTransferStats()

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

Retrieve statistics for a connection to an PointCloudProvider.

Parameters

providerName	Name of the provider
resetStats	Reset statistics

Returns: Reference to statistics for the connection to the provder

◆ isPointCloudProviderKnown()

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

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

◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: Component::onConnectComponent()

Implements ManagedIceObject.

Reimplemented in PointCloudAndImageProcessor.

◆ onConnectPointCloudProcessor()

virtual void onConnectPointCloudProcessor ( )

protectedpure virtual

Implement this method in the PointCloudProcessor in order execute parts when the component is fully initialized and about to run.

Implemented in DenseCRFSegmentationProcessor, EfficientRANSACPrimitiveExtractor, FilterKnownObjects, HandEyeCalibrationWidgetController, MultiViewPointCloudProcessor, PointCloudRecorder, PrimitiveExtractionParameterTuning, PrimitiveExtractor, TabletopSegmentation, LabeledPointCloudMerger, MaskRCNNPointCloudObjectLocalizer, PointCloudAndImageProcessor, PointCloudFilter, PointCloudObjectLocalizer, PointCloudSegmenter, PointCloudToArMem, PointCloudToArViz, PointCloudVisualization, SegmentAABBShapesProvider, SegmentRansacShapeExtractor, SegmentSpatialRelations, UserAssistedSegmenter, VoxelGridMappingProvider, and WidgetController.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

See also: Component::onDisconnectComponent()

Reimplemented from ManagedIceObject.

Reimplemented in PointCloudAndImageProcessor.

◆ onDisconnectPointCloudProcessor()

virtual void onDisconnectPointCloudProcessor ( )

inlineprotectedvirtual

Implement this method in the PointCloudProcessor in order execute parts when the component looses network connectivity.

Reimplemented in DenseCRFSegmentationProcessor, EfficientRANSACPrimitiveExtractor, FilterKnownObjects, HandEyeCalibrationWidgetController, MultiViewPointCloudProcessor, PointCloudRecorder, PrimitiveExtractionParameterTuning, PrimitiveExtractor, TabletopSegmentation, LabeledPointCloudMerger, MaskRCNNPointCloudObjectLocalizer, PointCloudAndImageProcessor, PointCloudFilter, PointCloudObjectLocalizer, PointCloudSegmenter, PointCloudToArMem, PointCloudToArViz, PointCloudVisualization, SegmentAABBShapesProvider, SegmentRansacShapeExtractor, SegmentSpatialRelations, UserAssistedSegmenter, and WidgetController.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also: Component::onExitComponent()

Reimplemented from ManagedIceObject.

Reimplemented in PointCloudAndImageProcessor.

◆ onExitPointCloudProcessor()

virtual void onExitPointCloudProcessor ( )

protectedpure virtual

Exit the ImapeProcessor component.

Implement this method in order to clean up the PointCloudProcessor

Implemented in DenseCRFSegmentationProcessor, EfficientRANSACPrimitiveExtractor, FilterKnownObjects, HandEyeCalibrationWidgetController, MultiViewPointCloudProcessor, PointCloudRecorder, PrimitiveExtractionParameterTuning, PrimitiveExtractor, TabletopSegmentation, LabeledPointCloudMerger, MaskRCNNPointCloudObjectLocalizer, PointCloudAndImageProcessor, PointCloudFilter, PointCloudObjectLocalizer, PointCloudSegmenter, PointCloudToArMem, PointCloudToArViz, PointCloudVisualization, SegmentAABBShapesProvider, SegmentRansacShapeExtractor, SegmentSpatialRelations, UserAssistedSegmenter, VoxelGridMappingProvider, and WidgetController.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: Component::onInitComponent()

Implements ManagedIceObject.

Reimplemented in PointCloudAndImageProcessor.

◆ onInitPointCloudProcessor()

virtual void onInitPointCloudProcessor ( )

protectedpure virtual

Setup the vision component.

Implement this method in the PointCloudProcessor in order to setup its parameters. Use this for the registration of adaptars and subscription to topics

Parameters

argc	number of filtered command line arguments
argv	filtered command line arguments

Implemented in DenseCRFSegmentationProcessor, EfficientRANSACPrimitiveExtractor, FilterKnownObjects, HandEyeCalibrationWidgetController, MultiViewPointCloudProcessor, PointCloudRecorder, PrimitiveExtractionParameterTuning, PrimitiveExtractor, TabletopSegmentation, LabeledPointCloudMerger, MaskRCNNPointCloudObjectLocalizer, PointCloudAndImageProcessor, PointCloudFilter, PointCloudObjectLocalizer, PointCloudSegmenter, PointCloudToArMem, PointCloudToArViz, PointCloudVisualization, SegmentAABBShapesProvider, SegmentRansacShapeExtractor, SegmentSpatialRelations, UserAssistedSegmenter, VoxelGridMappingProvider, and WidgetController.

◆ pointCloudHasNewData()

bool pointCloudHasNewData ( std::string providerName )

Returns current status for the given point cloud.

True if new data is available, false otherwise.

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

Parameters

providerName Name of provider to wait for PointClouds

Returns: True if new data from the provider is available. False otherwise.

◆ process()

virtual void process ( )

protectedpure virtual

Process the vision component.

The main loop of the PointCloudProcessor to be implemented in the subclass. Do not block this method. One process should execute exactly one PointCloud processing step.

Implemented in DenseCRFSegmentationProcessor, EfficientRANSACPrimitiveExtractor, EfficientRANSACPrimitiveExtractor, FilterKnownObjects, HandEyeCalibrationWidgetController, MaskFilterPointCloudProcessor, MaskFilterPointCloudProcessor, MultiViewPointCloudProcessor, MultiViewPointCloudProcessor, PointCloudRecorder, PrimitiveExtractionParameterTuning, PrimitiveExtractor, TabletopSegmentation, ValveAttention, Component, LabeledPointCloudMerger, MaskRCNNPointCloudObjectLocalizer, ObjectLearningByPushing, PointCloudAndImageProcessor, PointCloudFilter, PointCloudObjectLocalizer, PointCloudSegmenter, PointCloudToArMem, PointCloudToArViz, PointCloudVisualization, RGBDHandLocalizer, SegmentAABBShapesProvider, SegmentRansacShapeExtractor, SegmentSpatialRelations, UserAssistedSegmenter, VoxelGridMappingProvider, and WidgetController.

◆ provideResultPointClouds() [1/2]

template<typename PointCloudPtrT>

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

inline

sends result PointClouds for visualization

See also: enableVisualization

Parameters

PointClouds array of PointClouds to send

◆ provideResultPointClouds() [2/2]

template<typename PointCloudPtrT>

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

inline

◆ releasePointCloudProvider()

void releasePointCloudProvider ( std::string providerName )

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

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

◆ reportPointCloudAvailable()

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

overrideprotected

Listener callback function.

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

Parameters

providerName The reporting PointCloud provider name

◆ runProcessor()

void runProcessor ( )

protectedvirtual

See also: RunningTask

◆ usingPointCloudProvider()

void usingPointCloudProvider ( std::string providerName )

Registers a delayed topic subscription and a delayed provider proxy retrieval which will be available on the start of the component.

Parameters

name	Provider name

◆ usingPointCloudProviderFromProperty()

void usingPointCloudProviderFromProperty ( const std::string & prop )

inline

◆ waitForPointClouds() [1/2]

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

Wait for new PointClouds.

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

Parameters

providerName	Name of provider to wait for PointClouds
milliseconds	Timeout for waiting

Returns: True if new PointClouds are available. False in case of error or timeout

◆ waitForPointClouds() [2/2]

bool waitForPointClouds ( int milliseconds = 1000 )

Wait for new PointClouds.

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

Parameters

milliseconds Timeout for waiting

Returns: True if new PointClouds are available. False in case of error or timeout

Member Data Documentation

◆ automaticConversion

bool automaticConversion

protected

◆ fpsCounter

FPSCounter fpsCounter

protected

◆ frameRate

float frameRate

protected

◆ pointCloudProviderInfoMap

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

protected

◆ pointCloudProviderInfoMutex

std::shared_mutex pointCloudProviderInfoMutex

protected

◆ processorTask

armarx::RunningTask<PointCloudProcessor>::pointer_type processorTask

protected

◆ resultPointCloudProviders

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

protected

◆ resultProviderMutex

std::shared_mutex resultProviderMutex

protected

◆ statistics

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

protected

◆ statisticsMutex

std::mutex statisticsMutex

protected

◆ usedPointCloudProviders

PointCloudProviderMap usedPointCloudProviders

protected

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

VisionX/components/pointcloud_core/PointCloudProcessor.h
VisionX/components/pointcloud_core/PointCloudProcessor.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ PointCloudProviderMap

Member Function Documentation

◆ enableResultPointCloudForInputProvider()

◆ enableResultPointClouds() [1/2]

◆ enableResultPointClouds() [2/2]

◆ getPointCloudFormat()

◆ getPointCloudFrame()

◆ getPointCloudProvider() [1/2]

◆ getPointCloudProvider() [2/2]

◆ getPointCloudProviderNames()

◆ getPointClouds() [1/2]

◆ getPointClouds() [2/2]

◆ getPointCloudTransferStats()

◆ isPointCloudProviderKnown()

◆ onConnectComponent()

◆ onConnectPointCloudProcessor()

◆ onDisconnectComponent()

◆ onDisconnectPointCloudProcessor()

◆ onExitComponent()

◆ onExitPointCloudProcessor()

◆ onInitComponent()

◆ onInitPointCloudProcessor()

◆ pointCloudHasNewData()

◆ process()

◆ provideResultPointClouds() [1/2]

◆ provideResultPointClouds() [2/2]

◆ releasePointCloudProvider()

◆ reportPointCloudAvailable()

◆ runProcessor()

◆ usingPointCloudProvider()

◆ usingPointCloudProviderFromProperty()

◆ waitForPointClouds() [1/2]

◆ waitForPointClouds() [2/2]

Member Data Documentation

◆ automaticConversion

◆ fpsCounter

◆ frameRate

◆ pointCloudProviderInfoMap

◆ pointCloudProviderInfoMutex

◆ processorTask

◆ resultPointCloudProviders

◆ resultProviderMutex

◆ statistics

◆ statisticsMutex

◆ usedPointCloudProviders