Public Member Functions | |
| virtual Eigen::Transform< double, 3, Eigen::Affine > | transform ()=0 |
| virtual Eigen::MatrixXd | bounding_box () |
| virtual int | get_frames_between_iterations () const |
| virtual void | set_rgb_image (const cv::Mat &image) |
| virtual void | set_depth_segmentation_image (const Eigen::MatrixXf &depth, const cv::Mat &segmentation) |
| virtual bool | transform_received () |
 Public Member Functions inherited from RobotsIO::Utils::DataStream | |
| virtual bool | freeze (const bool blocking=false)=0 |
Detailed Description
Definition at line 24 of file Transform.h.
Constructor & Destructor Documentation
◆ ~Transform()
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virtual |
Definition at line 13 of file Transform.cpp.
Member Function Documentation
◆ bounding_box()
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virtual |
FIXME: this might be moved somewhere else.
Optionally, a transform might contain information on the bounding box enclosing the object whose transform is transmitted.
It returns a 3x8 matrix containing the coordinates of the 8 vertices of the bounding box.
The points of the bounding box are to be expressed in the root frame of the transformation.
Reimplemented in RobotsIO::Utils::TransformYarpPort.
Definition at line 17 of file Transform.cpp.
◆ get_frames_between_iterations()
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virtual |
N > 1 indicates that the transform is available every N frames N = 1 indicates that the transform is available at all frames N < 1 indicates that this information is not available
By default, this method returns N = 1. User might override this setting by re-implementing this method.
Reimplemented in RobotsIO::Utils::DatasetTransformDelayed, and RobotsIO::Utils::TransformYarpPort.
Definition at line 25 of file Transform.cpp.
◆ set_depth_segmentation_image()
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virtual |
If required, the user might override this method to set the Depth / Segmentation pair on which the transform has to be evaluated.
Reimplemented in RobotsIO::Utils::TransformYarpPort.
Definition at line 38 of file Transform.cpp.
◆ set_rgb_image()
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virtual |
If required, the user might override this method to set the RGB image on which the transform has to be evaluated.
Reimplemented in RobotsIO::Utils::TransformYarpPort.
Definition at line 32 of file Transform.cpp.
◆ transform_received()
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virtual |
Indicate whether a new transform has been received or not. Please note that this method might return true even if DataStream::freeze() is false, e.g. if the transform is invalid.
User might override this method in order to comunicate when a network-based transform source is ready, independently from the validity of the received transform.
The default returned value is True.
Warning: this method should be called after DataStream::freeze(), as the reception status might be updated after that.
Reimplemented in RobotsIO::Utils::TransformYarpPort.
Definition at line 44 of file Transform.cpp.
