#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::Task ( std::string const & name = "stereo::Task" )

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

Task::~Task ( )

Member Function Documentation

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.

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

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

protected

Convert to point cloud with color

Organize point cloud

write to output

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

protected

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

protected

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.

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.

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

friend class TaskBase

friend

Member Data Documentation

frame_helper::StereoCalibration stereo::Task::calibration

protected

DenseStereo* stereo::Task::dense_stereo

protected

Instance of dense stereo processing.

double stereo::Task::imageScalingFactor

protected

cv::Size stereo::Task::imageSize

protected

frame_helper::FrameHelper stereo::Task::leftConv

protected

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

protected

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

protected

bool stereo::Task::leftFrameValid

protected

frame_helper::FrameHelper stereo::Task::rightConv

protected

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

protected

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

protected

bool stereo::Task::rightFrameValid

protected

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

protected

SparseDebugImpl* stereo::Task::sparseDebug

protected

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation