Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | TransformYarpPort (const std::string &port_prefix, const bool &provide_rgb, const bool &provide_depth_segmentation) |
| Eigen::Transform< double, 3, Eigen::Affine > | transform () override |
| Eigen::MatrixXd | bounding_box () override |
| bool | freeze (const bool blocking=false) override |
| int | get_frames_between_iterations () const override |
| void | set_rgb_image (const cv::Mat &image) override |
| void | set_depth_segmentation_image (const Eigen::MatrixXf &depth, const cv::Mat &segmentation) override |
| bool | transform_received () override |
| 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 () |
| virtual bool | freeze (const bool blocking=false)=0 |
 Public Member Functions inherited from RobotsIO::Utils::YarpBufferedPort< yarp::sig::Vector > | |
| YarpBufferedPort (const std::string &port_name) | |
| void | send_data (const yarp::sig::Vector &data) |
| yarp::sig::Vector * | receive_data (const bool &blocking) |
| double | time_stamp () |
| void | set_time_stamp (const double &stamp) |
| std::size_t | flush () |
Additional Inherited Members | |
| Protected Attributes inherited from RobotsIO::Utils::YarpBufferedPort< yarp::sig::Vector > | |
| yarp::os::Network | yarp_ |
| yarp::os::BufferedPort< yarp::sig::Vector > | port_ |
| yarp::os::Stamp | stamp_ |
| const std::string | log_name_ |
Detailed Description
Definition at line 26 of file TransformYarpPort.h.
Constructor & Destructor Documentation
◆ TransformYarpPort()
| TransformYarpPort::TransformYarpPort | ( | const std::string & | port_prefix, |
| const bool & | provide_rgb, | ||
| const bool & | provide_depth_segmentation | ||
| ) |
Initialize a Transform instance which uses YARP ports to receive transforms and (optionally) provide RGB images, or Depth + Segmentation, to the module which extract transforms.
Required port names are composed as <port_prefix>/transform:i, <port_prefix>/rgb:o and <port_prefix>/depth_segmentation:o.
Definition at line 23 of file TransformYarpPort.cpp.
◆ ~TransformYarpPort()
|
virtual |
Definition at line 32 of file TransformYarpPort.cpp.
Member Function Documentation
◆ bounding_box()
|
overridevirtual |
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 from RobotsIO::Utils::Transform.
Definition at line 42 of file TransformYarpPort.cpp.
◆ freeze()
|
overridevirtual |
Implements RobotsIO::Utils::DataStream.
Definition at line 48 of file TransformYarpPort.cpp.
◆ get_frames_between_iterations()
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overridevirtual |
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 from RobotsIO::Utils::Transform.
Definition at line 88 of file TransformYarpPort.cpp.
◆ set_depth_segmentation_image()
|
overridevirtual |
If required, the user might override this method to set the Depth / Segmentation pair on which the transform has to be evaluated.
Reimplemented from RobotsIO::Utils::Transform.
Definition at line 106 of file TransformYarpPort.cpp.
◆ set_rgb_image()
|
overridevirtual |
If required, the user might override this method to set the RGB image on which the transform has to be evaluated.
Reimplemented from RobotsIO::Utils::Transform.
Definition at line 94 of file TransformYarpPort.cpp.
◆ transform()
|
overridevirtual |
Implements RobotsIO::Utils::Transform.
Definition at line 36 of file TransformYarpPort.cpp.
◆ transform_received()
|
overridevirtual |
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 from RobotsIO::Utils::Transform.
Definition at line 128 of file TransformYarpPort.cpp.
