The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Matrix, to convert the pointcloud into the camera view. More...

#include <ColorizePointcloudMultiCam.hpp>

Inheritance diagram for projection::ColorizePointcloudMultiCam:

Public Member Functions
	ColorizePointcloudMultiCam (std::string const &name="projection::ColorizePointcloudMultiCam")

	ColorizePointcloudMultiCam (std::string const &name, RTT::ExecutionEngine *engine)

	~ColorizePointcloudMultiCam ()

bool	configureHook ()
	The following lines are template definitions for the various state machine. More...

bool	startHook ()

void	updateHook ()

void	errorHook ()

void	stopHook ()

void	cleanupHook ()

Protected Member Functions
void	colorizePointCloud (::base::samples::Pointcloud &pointsCloud, base::samples::frame::Frame &image, const Eigen::Matrix4d &points2Cam, base::samples::frame::Frame &image2, const Eigen::Matrix4d &points2Cam2)

virtual void	camera1Callback (const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &camera1_sample)

virtual void	camera2Callback (const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &camera2_sample)

virtual void	pointsCallback (const base::Time &ts, const ::base::samples::Pointcloud &points_sample)

Protected Attributes
bool	hasImage1

bool	hasImage2

frame_helper::FrameHelper	frameHelper

base::samples::Pointcloud	points

base::samples::frame::Frame	frame1

base::samples::frame::Frame	frame2

Friends
class	ColorizePointcloudMultiCamBase

Detailed Description

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. Matrix, to convert the pointcloud into the camera view.

The name of a TaskContext is primarily defined via:

deployment 'deployment_name'
    task('custom_task_name','projection::ColorizePointcloudMultiCam')
end

It can be dynamically adapted when the deployment is called with a prefix argument.

Constructor & Destructor Documentation

◆ ColorizePointcloudMultiCam() [1/2]

ColorizePointcloudMultiCam::ColorizePointcloudMultiCam ( std::string const & name = "projection::ColorizePointcloudMultiCam" )

TaskContext constructor for ColorizePointcloudMultiCam

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.
initial_state	The initial TaskState of the TaskContext. Default is Stopped state.

◆ ColorizePointcloudMultiCam() [2/2]

ColorizePointcloudMultiCam::ColorizePointcloudMultiCam	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

TaskContext constructor for ColorizePointcloudMultiCam

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

◆ ~ColorizePointcloudMultiCam()

ColorizePointcloudMultiCam::~ColorizePointcloudMultiCam ( )

Default deconstructor of ColorizePointcloudMultiCam

Member Function Documentation

◆ camera1Callback()

void ColorizePointcloudMultiCam::camera1Callback	(	const base::Time &	ts,
		const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &	camera1_sample
	)

protectedvirtual

◆ camera2Callback()

void ColorizePointcloudMultiCam::camera2Callback	(	const base::Time &	ts,
		const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &	camera2_sample
	)

protectedvirtual

◆ cleanupHook()

void ColorizePointcloudMultiCam::cleanupHook ( )

This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.

◆ colorizePointCloud()

void ColorizePointcloudMultiCam::colorizePointCloud	(	::base::samples::Pointcloud &	pointsCloud,
		base::samples::frame::Frame &	image,
		const Eigen::Matrix4d &	points2Cam,
		base::samples::frame::Frame &	image2,
		const Eigen::Matrix4d &	points2Cam2
	)

protected

◆ configureHook()

bool ColorizePointcloudMultiCam::configureHook ( )

The following lines are template definitions for the various state machine.

This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.

It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):

task_context "TaskName" do
  needs_configuration
  ...
end

◆ errorHook()

void ColorizePointcloudMultiCam::errorHook ( )

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recover() to go back in the Runtime state.

◆ pointsCallback()

void ColorizePointcloudMultiCam::pointsCallback	(	const base::Time &	ts,
		const ::base::samples::Pointcloud &	points_sample
	)

protectedvirtual

◆ startHook()

bool ColorizePointcloudMultiCam::startHook ( )

This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.

◆ stopHook()

void ColorizePointcloudMultiCam::stopHook ( )

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

◆ updateHook()

void ColorizePointcloudMultiCam::updateHook ( )

This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.

The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.

In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.

Friends And Related Function Documentation

◆ ColorizePointcloudMultiCamBase

friend class ColorizePointcloudMultiCamBase

friend

Member Data Documentation

◆ frame1

base::samples::frame::Frame projection::ColorizePointcloudMultiCam::frame1

protected

◆ frame2

base::samples::frame::Frame projection::ColorizePointcloudMultiCam::frame2

protected

◆ frameHelper

frame_helper::FrameHelper projection::ColorizePointcloudMultiCam::frameHelper

protected

◆ hasImage1

bool projection::ColorizePointcloudMultiCam::hasImage1

protected

◆ hasImage2

bool projection::ColorizePointcloudMultiCam::hasImage2

protected

◆ points

base::samples::Pointcloud projection::ColorizePointcloudMultiCam::points

protected

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

/build/rock-master-18.09-perception-orogen-projection-0.20160606/tasks/ColorizePointcloudMultiCam.hpp
/build/rock-master-18.09-perception-orogen-projection-0.20160606/tasks/ColorizePointcloudMultiCam.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ColorizePointcloudMultiCam() [1/2]

◆ ColorizePointcloudMultiCam() [2/2]

◆ ~ColorizePointcloudMultiCam()

Member Function Documentation

◆ camera1Callback()

◆ camera2Callback()

◆ cleanupHook()

◆ colorizePointCloud()

◆ configureHook()

◆ errorHook()

◆ pointsCallback()

◆ startHook()

◆ stopHook()

◆ updateHook()

Friends And Related Function Documentation

◆ ColorizePointcloudMultiCamBase

Member Data Documentation

◆ frame1

◆ frame2

◆ frameHelper

◆ hasImage1

◆ hasImage2

◆ points