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ImFusion C++ SDK 4.4.0
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ImFusion C++ SDK 4.4.0
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#include <ImFusion/Vision/GroupedStereoImageStream.h>
GroupedStereoImageStream simultaneously owns and controls its stereo sub-streams. More...
GroupedStereoImageStream simultaneously owns and controls its stereo sub-streams.
It OWNs two other streams, caches received images and merges them to a StereoImage The input streams could be any kind of image streams The CompoundStreamData, which consists of a StereoImage and two sub-images, is then emitted. The class only caches one image for each substream The timestamp of the StereoImage is set to the average of the two substreams. it is recommended to use this stereo stream for any stereo-related algorithm.
Public Member Functions | |
| ImageStream * | leftStream () const override |
| Helper functions to get access to it sub-streams. | |
| ImageStream * | rightStream () const override |
| bool | openImpl () override |
| Open stream. | |
| bool | closeImpl () override |
| Close stream. | |
| bool | startImpl () override |
| Start stream. | |
| bool | stopImpl () override |
| Stop stream. | |
| bool | pauseImpl () override |
| Pause stream (not required to be supported). | |
| bool | resumeImpl () override |
| Resume stream from pause (only required to be supported when pauseImpl() is supported). | |
| bool | supportsPausing () const override |
| Override and return true if this stream implements the pausing and resume operations. | |
| std::optional< WorkContinuation > | doWork () override |
| Create one StreamData and publish it (this function will be called at the desired frame rate) If this is not desired, you can do the following: return std::nullopt;. | |
| void | setSyncMode (SyncMode mode) override |
| Set the synchronization mode. | |
| SyncMode | syncMode () const override |
| void | setSyncThreshold (double thresholdMs) override |
| Set the threshold for synchronizing the streams in milliseconds. Only images with timestamp difference within the specified threshold are emitted. | |
| double | syncThreshold () const override |
| void | setSyncBlocking (bool blocking) override |
| Sets whether the stream should block the input streams until the current stereo frame has been processed. | |
| bool | isSyncBlocking () const override |
| Public Member Functions inherited from ImFusion::StereoImageStream | |
| StereoImageStream (const std::string &name="") | |
| bool | openImpl () override |
| Open stream. | |
| bool | closeImpl () override |
| Close stream. | |
| bool | startImpl () override |
| Start stream. | |
| bool | stopImpl () override |
| Stop stream. | |
| bool | pauseImpl () override |
| Pause stream (not required to be supported). | |
| bool | resumeImpl () override |
| Resume stream from pause (only required to be supported when pauseImpl() is supported). | |
| bool | supportsPausing () const override |
| Override and return true if this stream implements the pausing and resume operations. | |
| std::optional< WorkContinuation > | doWork () override |
| Create one StreamData and publish it (this function will be called at the desired frame rate) If this is not desired, you can do the following: return std::nullopt;. | |
| std::string | describe () const override |
| Short description of the stream including latest state and update rate information. | |
| Public Member Functions inherited from ImFusion::ImageStream | |
| ImageStream (const std::string &name="") | |
| Data::Kind | kind () const override final |
| Returns the kind (typically IMAGESTREAM or VOLUMESTREAM). | |
| void | setModality (Modality m) |
| Set the modality descriptor of this stream. | |
| Modality | modality () const override final |
| Return the modality of this stream. | |
| virtual bool | topDown () const |
| Specify whether the first line of the image data is to be displayed on top. | |
| int | size () const override |
| Returns the number of images of the image stream per emission. | |
| Public Member Functions inherited from ImFusion::Stream | |
| Stream (const std::string &name="") | |
Constructor with the name for this stream. | |
| virtual ThreadingMode | threadingMode () const |
| Configures threading mode of stream. | |
| virtual bool | supportsAsyncOperation () |
| Returns true if xxxAsync() methods support execution in a background thread. | |
| std::shared_future< bool > | openAsync () |
| Open stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | closeAsync () |
| Close stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | startAsync () |
| Start stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | stopAsync () |
| Stop stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | pauseAsync () |
| Pause stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | resumeAsync () |
| Resume stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| bool | open () |
| Open stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | close () |
| Close stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | start () |
| Start stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | stop () |
| Stop stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | pause () |
| Pause stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | resume () |
| Resume stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | restart () |
| Stops, closes, opens and starts the stream. Returns whether the operation was successful. | |
| virtual bool | reset () |
| Reverts stream to first frame, if possible. Returns whether the operation was successful. | |
| virtual bool | isRunning () const |
| Return whether stream is currently running. | |
| virtual std::string | uuid () |
| Unique identifier for stream. | |
| State | currentState () const |
| bool | isStateOneOf (const std::vector< State > &states) const |
| Geometry::AlignedBox | bounds () const override |
| Per default a Stream has empty/invalid bounds. | |
| Pose::TransformationConvention | matrixConvention () const override |
| Matrices of streams by default map to the world coordinate system. | |
| virtual bool | createDefaultStreamController () |
| Indicates whether a StreamController should be created for the stream (by default returns true). | |
| double | updateRate () const |
| Average update rate in Hz of the signalStreamData. | |
| std::string | describe () const override |
| Short description of the stream including latest state and update rate information. | |
| Public Member Functions inherited from ImFusion::Data | |
| Data (const std::string &name="") | |
| Data (const Data &other) | |
| Data & | operator= (const Data &other) |
| virtual | ~Data () |
| Mandatory virtual destructor. | |
| const std::string & | name () const |
| Return the name of this data. | |
| void | setName (const std::string &name) |
| Sets the name of this data. | |
| virtual bool | isAnnotationType () const |
| Return whether this data type is visualized through an annotation (e.g. mesh). | |
| const DataComponentList & | components () const |
| Returns the list of DataComponents for this data. | |
| DataComponentList & | components () |
| virtual void | setMatrixFromWorld (const mat4 &m) |
| Set matrix mapping from the world coordinate system to the data coordinate system. | |
| virtual void | setMatrixToWorld (const mat4 &m) |
| Set matrix mapping from the data coordinate system to the world coordinate system. | |
| virtual mat4 | matrixFromWorld () const |
| Get matrix mapping from the world coordinate system to the data coordinate system. | |
| virtual mat4 | matrixToWorld () const |
| Get matrix mapping from the data coordinate system to the world coordinate system. | |
| virtual mat4 | matrix () const |
| Return the transformation matrix. | |
| virtual void | setMatrix (const mat4 &m) |
| Set the transformation matrix. | |
| Public Member Functions inherited from ImFusion::Configurable | |
| virtual void | configure (const Properties *p) |
| Configure this object instance by de-serializing the given Properties. | |
| virtual void | configuration (Properties *p) const |
| Serialize the current object configuration into the given Properties object. | |
| virtual void | configureDefaults () |
| Retrieve the properties of this object, replaces values with their defaults and sets it again. | |
| void | registerParameter (ParameterBase *param) |
| Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration(). | |
| void | unregisterParameter (const ParameterBase *param) |
| Remove the given Parameter or SubProperty from the list of registered parameters. | |
| Configurable (const Configurable &rhs) | |
| Configurable (Configurable &&rhs) noexcept | |
| Configurable & | operator= (const Configurable &) |
| Configurable & | operator= (Configurable &&) noexcept |
| Public Member Functions inherited from ImFusion::Selectable | |
| Selectable (const Selectable &) | |
| Selectable (Selectable &&) | |
| Selectable & | operator= (const Selectable &) |
| Selectable & | operator= (Selectable &&) |
| virtual Selection | selection () const |
| virtual int | focus () const |
| virtual void | setSelection (const Selection &sel) |
| Set the underlying selection. | |
| virtual void | setFocus (int index) |
| Set focus of the selection. | |
| Public Member Functions inherited from ImFusion::StreamGroup< StereoImageStream > | |
| StreamGroup & | operator= (StreamGroup &&other) noexcept |
| Stream * | proxyStream () override |
| Returns the non-owning pointer to the proxy stream, valid for the lifetime of the stream group. | |
| DataList | children () const override |
| Returns substreams as a non-owning list for the CompoundData interface. | |
| std::vector< Stream * > | substreams () const override |
| Returns all substreams in this stream group. | |
| Public Member Functions inherited from ImFusion::SignalReceiver | |
| SignalReceiver ()=default | |
| Default constructor. | |
| SignalReceiver (const SignalReceiver &other) | |
| Copy constructor, does not copy any existing signal connections from other. | |
| SignalReceiver & | operator= (SignalReceiver rhs) |
| Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs. | |
| virtual | ~SignalReceiver () |
| Virtual destructor disconnects from all connected signals. | |
Static Public Member Functions | |
| static std::unique_ptr< GroupedStereoImageStream > | create (std::unique_ptr< ImageStream > &&leftImageStream, std::unique_ptr< ImageStream > &&rightImageStream) |
| Static Public Member Functions inherited from ImFusion::Stream | |
| static std::string | stateToString (State state) |
| Static Public Member Functions inherited from ImFusion::Data | |
| static std::string | modalityString (Data::Modality m) |
| Return the name of an image modality. | |
| static Data::Modality | stringToModality (const std::string &s) |
| Returns the modality corresponding to a modality string or NA if nothing matches. | |
Additional Inherited Members | |
| Public Types inherited from ImFusion::StereoImageStream | |
| enum class | SyncMode { None = 0 , ArrivalTimestamps , DeviceTimestamps } |
| Public Types inherited from ImFusion::Stream | |
| enum class | ThreadingMode { BaseClassRunsWorkerThread , DerivedClassHandlesThreading } |
| This flag represents the two supported threading modes of a Stream. More... | |
| enum class | State { Closed , Opening , Open , Starting , Running , Pausing , Paused , Resuming , Stopping , Closing } |
| Public Types inherited from ImFusion::Data | |
| enum | Kind { UNKNOWN = 0 , IMAGE = 1 , VOLUME = 2 , IMAGESET = 3 , VOLUMESET = 4 , IMAGESTREAM = 5 , VOLUMESTREAM = 6 , POINTSET = 7 , SURFACE = 8 , TRACKINGSTREAM = 9 , LIVETRACKINGSTREAM = TRACKINGSTREAM , TRACKINGDATA = 10 , TREE = 11 , TENSOR = 12 , POLYDATASTREAM = 13 , STEREOIMAGESET = 14 , STEREOIMAGESTREAM = 15 , VOLUMETRICMESH = 16 } |
| Kind of data. More... | |
| enum | Modality { NA = 0 , XRAY = 1 , CT = 2 , MRI = 3 , ULTRASOUND = 4 , VIDEO = 5 , NM = 6 , OCT = 7 , LABEL = 8 , DISTANCE = 9 } |
| Image modality of the data. More... | |
| Public Attributes inherited from ImFusion::ImageStream | |
| Signal< Data::Kind > | signalKindChanged |
| Is emitted when the stream changes between IMAGESTREAM and VOLUMESTREAM, before the next ImageStreamData is emitted. | |
| Public Attributes inherited from ImFusion::Stream | |
| ProtectedSignal< StateChange > | signalStateChanged |
| Emitted after a state change has been completed with the old and new state. | |
| ProtectedSignal | signalEnded |
| Indicates that the stream reached the end of its data, e.g. when a video stream has played to the end. | |
| ProtectedSignal< std::shared_ptr< const StreamData > > | signalStreamData |
| Signal that is emitted by the stream when a new StreamData is available. | |
| DeprecatedSignal< ProtectedSignal< std::shared_ptr< const StreamData > >, const StreamData & > | signalNewData |
| Signal that is emitted by the stream when a new StreamData is available. | |
| Public Attributes inherited from ImFusion::Data | |
| Signal< const Data * > | signalDeleted |
| Signal emitted when this instance is deleted. | |
| Signal< const Data * > | signalMatrixChanged |
| Signal emitted when the transformation of this Data has changed. | |
| Signal< std::string > | signalNameChanged |
| Signal emitted when the name changed. | |
| Public Attributes inherited from ImFusion::Configurable | |
| Signal | signalParametersChanged |
| Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
| Public Attributes inherited from ImFusion::Selectable | |
| ProtectedSignal | signalSelectionChanged |
| Signals that the selection or size might have changed. | |
| Public Attributes inherited from ImFusion::StreamGroupBase | |
| ProtectedSignal< std::shared_ptr< const CompoundStreamData > > | signalNewStreamGroupData |
| Signal emitted when new stream data is available from the stream group. | |
| Public Attributes inherited from ImFusion::CompoundData | |
| Signal< Data * > | signalChildAdded |
| Signal emitted when a new Data instance has been added to children(). | |
| Signal< Data * > | signalChildMoved |
| Signal emitted when a Data instance has changed its position in children(). | |
| Signal< Data * > | signalChildAboutToBeRemoved |
| Signal emitted when a Data instance is about to be removed or taken from children(). | |
| Protected Member Functions inherited from ImFusion::ImageStream | |
| void | setKind (Kind k) |
| Sets the kind (typically IMAGESTREAM or VOLUMESTREAM) and emits signalKindChanged. | |
| bool | workerThreadRequiresOpenGl () const override |
| Ensure the thread has an GL context before the main loop starts. | |
| Protected Member Functions inherited from ImFusion::Stream | |
| virtual bool | worksWhilePaused () const |
| Override if doWork() should be called also in the Paused state. | |
| void | changeState (State newState) |
| std::shared_future< bool > | attemptStateChange (std::function< bool()> work, State stateWorking, State stateSuccess, State stateError) |
| Protected Member Functions inherited from ImFusion::Data | |
| void | swapWith (Data &other) |
| Swaps the data and emits a matrix and name changed signal for both. | |
| Protected Member Functions inherited from ImFusion::StreamGroup< StereoImageStream > | |
| bool | addSubstream (std::unique_ptr< SubstreamBase > substream) override |
| Adds a substream to the stream group. | |
| bool | removeSubstream (Stream *substream) override |
| Removes a substream from the stream group. | |
| void | emitMainAndSubSignals (std::shared_ptr< const CompoundStreamData > tuple, bool emitSubstreamSignals=true) |
| Emits stream data via both compound and individual signals. | |
| Protected Member Functions inherited from ImFusion::StreamGroupBase | |
| void | reassignSubstream (SubstreamBase *substream) |
| Reassigns a substream to this stream group. | |
| Protected Member Functions inherited from ImFusion::Utils::NotCopyable | |
| NotCopyable (NotCopyable &&) noexcept=default | |
| NotCopyable & | operator= (NotCopyable &&) noexcept=default |
| NotCopyable (const NotCopyable &)=delete | |
| NotCopyable & | operator= (const NotCopyable &)=delete |
| Protected Member Functions inherited from ImFusion::SignalReceiver | |
| void | disconnectAll () |
| Disconnects all existing connections. | |
| Protected Attributes inherited from ImFusion::Data | |
| mat4 | m_matrix |
| Transformation matrix. | |
| std::recursive_mutex * | m_matrixMutex |
| Used to internally synchronize access to the matrix of data. | |
| DataComponentList | m_dataComponentList |
| The list of DataComponents for this data. | |
| Protected Attributes inherited from ImFusion::Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
| Protected Attributes inherited from ImFusion::Selectable | |
| std::mutex | m_selectionMutex |
| Mutex protecting the selection. | |
| Selection | m_sel |
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overridevirtual |
Helper functions to get access to it sub-streams.
Implements ImFusion::StereoImageStream.
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overridevirtual |
Implements ImFusion::StereoImageStream.
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overridevirtual |
Open stream.
Returns whether the operation was successful. This method is responsible for allocating necessary resources, initializing device handles, and establishing connections to devices. Implementers should ensure that all one-time setup tasks are completed here.
Implements ImFusion::Stream.
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overridevirtual |
Close stream.
Returns whether the operation was successful. This method should be used to free any resources that were allocated during the openImpl() call and to disconnect from any devices. Implementers must ensure that all resources are properly released to avoid memory leaks.
Implements ImFusion::Stream.
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overridevirtual |
Start stream.
Returns whether the operation was successful. This method is intended to initiate the actual data readout process or to connect a callback function for data handling. Implementers should ensure that the stream is ready and producing data after this call.
Implements ImFusion::Stream.
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overridevirtual |
Stop stream.
Returns whether the operation was successful. This method should halt any ongoing data readouts or callbacks, effectively pausing the data flow to reduce CPU load. Implementers should ensure that the stream can be restarted after this call.
Implements ImFusion::Stream.
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overridevirtual |
Pause stream (not required to be supported).
Returns whether the operation was successful. This method is intended to temporarily pause data acquisition.
Reimplemented from ImFusion::Stream.
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overridevirtual |
Resume stream from pause (only required to be supported when pauseImpl() is supported).
Returns whether the operation was successful. This method should resume data acquisition after a pause.
Reimplemented from ImFusion::Stream.
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overridevirtual |
Override and return true if this stream implements the pausing and resume operations.
Overridden method must be constexpr-essible and thread-safe.
Reimplemented from ImFusion::Stream.
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overridevirtual |
Create one StreamData and publish it (this function will be called at the desired frame rate) If this is not desired, you can do the following: return std::nullopt;.
Implements ImFusion::Stream.
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overridevirtual |
Set the synchronization mode.
Implements ImFusion::StereoImageStream.
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overridevirtual |
Implements ImFusion::StereoImageStream.
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overridevirtual |
Set the threshold for synchronizing the streams in milliseconds. Only images with timestamp difference within the specified threshold are emitted.
Implements ImFusion::StereoImageStream.
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overridevirtual |
Implements ImFusion::StereoImageStream.
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overridevirtual |
Sets whether the stream should block the input streams until the current stereo frame has been processed.
Implements ImFusion::StereoImageStream.
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overridevirtual |
Implements ImFusion::StereoImageStream.