stereo::Task Class Reference

#include <Task.hpp>

Inheritance diagram for stereo::Task:

Classes
struct	SparseDebugImpl

Public Member Functions
	Task (std::string const &name="stereo::Task")
	Task (std::string const &name, RTT::ExecutionEngine *engine)
	~Task ()
bool	configureHook ()
	The following lines are template definitions for the various state machine. More...
bool	startHook ()
void	updateHook ()
void	stopHook ()
void	cleanupHook ()

Protected Member Functions
void	initCalibration (cv::Size imageSize)
void	denseStereo (const cv::Mat &leftImage, const cv::Mat &rightImage)
void	sparseStereo (const cv::Mat &leftImage, const cv::Mat &rightImage)

Protected Attributes
RTT::extras::ReadOnlyPointer< base::samples::frame::Frame >	leftFrame
RTT::extras::ReadOnlyPointer< base::samples::frame::Frame >	rightFrame
DenseStereo *	dense_stereo
	Instance of dense stereo processing. More...
stereo::StereoFeatures *	sparse_stereo
base::samples::frame::Frame	leftFrameTarget
base::samples::frame::Frame	rightFrameTarget
frame_helper::FrameHelper	leftConv
frame_helper::FrameHelper	rightConv
bool	leftFrameValid
bool	rightFrameValid
cv::Size	imageSize
double	imageScalingFactor
frame_helper::StereoCalibration	calibration
SparseDebugImpl *	sparseDebug

Friends
class	TaskBase

Constructor & Destructor Documentation

Task() [1/2]

Task::Task

(

std::string const &

name = "stereo::Task"

)

Task() [2/2]

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

~Task()

Task::~Task

(

)

Member Function Documentation

cleanupHook()

void Task::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.

configureHook()

bool Task::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

denseStereo()

void Task::denseStereo ( const cv::Mat &  leftImage, const cv::Mat &  rightImage  )

protected

Convert to point cloud with color

Organize point cloud

write to output

initCalibration()

void Task::initCalibration ( cv::Size  imageSize )

protected

sparseStereo()

void Task::sparseStereo ( const cv::Mat &  leftImage, const cv::Mat &  rightImage  )

protected

startHook()

bool Task::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 Task::stopHook

(

)

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

updateHook()

void Task::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.

static int i = 0; cv::imwrite( "/tmp/left_" + boost::lexical_cast<string>(i) + ".png", leftCvFrame ); cv::imwrite( "/tmp/right_" + boost::lexical_cast<string>(i) + ".png", rightCvFrame ); i++;

Friends And Related Function Documentation

TaskBase

friend class TaskBase

friend

Member Data Documentation

calibration

frame_helper::StereoCalibration stereo::Task::calibration

protected

dense_stereo

DenseStereo* stereo::Task::dense_stereo

protected

Instance of dense stereo processing.

imageScalingFactor

double stereo::Task::imageScalingFactor

protected

imageSize

cv::Size stereo::Task::imageSize

protected

leftConv

frame_helper::FrameHelper stereo::Task::leftConv

protected

leftFrame

RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> stereo::Task::leftFrame

protected

leftFrameTarget

base::samples::frame::Frame stereo::Task::leftFrameTarget

protected

leftFrameValid

bool stereo::Task::leftFrameValid

protected

rightConv

frame_helper::FrameHelper stereo::Task::rightConv

protected

rightFrame

RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> stereo::Task::rightFrame

protected

rightFrameTarget

base::samples::frame::Frame stereo::Task::rightFrameTarget

protected

rightFrameValid

bool stereo::Task::rightFrameValid

protected

sparse_stereo

stereo::StereoFeatures* stereo::Task::sparse_stereo

protected

sparseDebug

SparseDebugImpl* stereo::Task::sparseDebug

protected

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

• /build/rock-master-18.09-perception-orogen-stereo-0.20170119/tasks/Task.hpp
• /build/rock-master-18.09-perception-orogen-stereo-0.20170119/tasks/Task.cpp