 |
ImFusion C++ SDK 4.5.0
|
|
ImFusion C++ SDK 4.5.0
|
#include <ImFusion/Vision/MonocularStreamDepthEstimationAlgorithm.h>
Performs real-time monocular depth estimation on a live image stream. More...
Performs real-time monocular depth estimation on a live image stream.
Extends StreamAlgorithmExecutor with a custom process() that pairs each depth output with the original color frame for live preview (see MonocularStreamDepthEstimationController). The processing algorithm must implement SequentialImageProcessor; pass it to the constructor, or leave nullptr and set a factory name via setStreamAlgorithmName() (createCompatible() defaults to "Vision.MonocularDepthEstimation").
Public Member Functions | |
| MonocularStreamDepthEstimationAlgorithm (ImageStream &inputStream, std::unique_ptr< Algorithm > algorithm=nullptr) | |
| void | process (TimestampedPayload< Payload > data) override |
| Overrides the default process algorithm to ensure the original input image is passed through. | |
| Public Member Functions inherited from ImFusion::StreamAlgorithmExecutor | |
| StreamAlgorithmExecutor (ImageStream &inputStream, std::unique_ptr< Algorithm > algorithm=nullptr) | |
| Constructor with input stream. | |
| ~StreamAlgorithmExecutor () override | |
| Destructor. | |
| void | compute () override |
| Execute the algorithm. | |
| OwningDataList | takeOutput () override |
| Returns an OwningDataList containing the stream and sets m_isOutputTaken to true. | |
| void | configure (const Properties *p) override |
| Configure algorithm. | |
| void | configuration (Properties *p) const override |
| Obtain algorithm configuration. | |
| const ImageStream & | inputStream () const |
| Returns the input image stream. | |
| const AlgorithmExecutorStream * | outputStream () const |
| Returns the output stream. | |
| Stream * | stream () override |
| Returns the output stream. | |
| void | setStreamAlgorithmName (const std::string &name) |
| Set name of stream algorithm to be created when next image arrives. | |
| std::string | streamAlgorithmName () const |
| The name of the algorithm to be applied on every image of the stream. | |
| void | waitUntilCompleted () |
| Waits until the background thread has processed all images. | |
| Algorithm * | streamAlgorithm () |
| void | process (TimestampedPayload< Payload > data) override |
| Called by the queue for each data added to it from a background processing thread. | |
| Public Member Functions inherited from ImFusion::StreamAlgorithmBase | |
| bool | isOutputTaken () const |
| virtual DataGroup * | dataGroup () |
| 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. | |
| Public Member Functions inherited from ImFusion::Algorithm | |
| Algorithm () | |
| Default constructor will registers a single "compute" action that calls compute() and returns status(). | |
| virtual void | setProgress (Progress *progress) |
| Sets a Progress interface the algorithm can use to notify observers about its computing progress. | |
| Progress * | progress () const |
| Returns the progress interface if set. | |
| virtual int | status () const |
| Indicates the status of the last call to compute(). | |
| virtual bool | survivesDataDeletion (const Data *) const |
| Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list. | |
| const FactoryInfo & | factoryInfo () const |
| Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory. | |
| void | setFactoryInfo (const FactoryInfo &value) |
| Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory. | |
| Status | runAction (const std::string &id) |
| Run the action with name id if it exists. | |
| const std::vector< Action > & | actions () |
| Get a mapping from Action id to Action as registered in this algorithm. | |
| Public Member Functions inherited from ImFusion::Configurable | |
| 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 |
Static Public Member Functions | |
| static bool | createCompatible (const DataList &data, Algorithm **a=0) |
Factory hook: one ImageStream with camera calibration; sets streamAlgorithmName() to "Vision.MonocularDepthEstimation". | |
| Static Public Member Functions inherited from ImFusion::StreamAlgorithmExecutor | |
| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| Static Public Member Functions inherited from ImFusion::Algorithm | |
| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| Factory function to check algorithm compatibility with input data and optionally instantiate it. | |
Additional Inherited Members | |
| Public Types inherited from ImFusion::StreamAlgorithmExecutor | |
| using | Payload = StreamAlgorithmExecutorPayload |
| Public Types inherited from ImFusion::Algorithm | |
| enum | Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 } |
| Status codes. More... | |
| Public Attributes inherited from ImFusion::StreamAlgorithmExecutor | |
| Parameter< bool > | p_forceBlocking = {"forceBlocking", false, this} |
| Property whether the processing should not be performed in a background thread. | |
| Parameter< bool > | p_processOnGpu = {"processOnGpu", false, this} |
| Set to true to sync. the incoming images to the GPU before processing. | |
| Parameter< int > | p_queueSize = {"queueSize", 5, this} |
| Size of the background processing queue. | |
| Public Attributes inherited from ImFusion::Algorithm | |
| Signal | signalOutputChanged |
| Signal should be emitted by Algorithms when their output/result has changed. | |
| Signal | signalParametersChanged |
| Signal should be emitted by Algorithms when their parameter configuration has changed. | |
| Public Attributes inherited from ImFusion::Configurable | |
| Signal | signalParametersChanged |
| Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
| Protected Member Functions inherited from ImFusion::StreamAlgorithmExecutor | |
| void | resetStream () override |
| Deletes the stream if m_isOutputTaken is false. In any case sets the stream to nullptr. | |
| void | instantiateAlgorithm (std::shared_ptr< const SharedImageSet > exampleImage) |
| Instantiates a new algorithm instance for processing. | |
| Protected Member Functions inherited from ImFusion::SignalReceiver | |
| void | disconnectAll () |
| Disconnects all existing connections. | |
| Protected Member Functions inherited from ImFusion::Algorithm | |
| void | loadDefaults () |
| void | registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action) |
| Register an action to be run via runAction. | |
| template<typename D> | |
| void | registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void)) |
| Template version of runAction that can be used with a pointer to a member function. | |
| void | registerAction (const Action &action) |
| Register an action. | |
| Protected Attributes inherited from ImFusion::StreamAlgorithmExecutor | |
| std::mutex | m_algMutex |
| Mutex protecting access to m_alg. | |
| Protected Attributes inherited from ImFusion::StreamAlgorithmBase | |
| bool | m_isOutputTaken = false |
| Protected Attributes inherited from ImFusion::Algorithm | |
| std::string | m_name |
| Algorithm name. | |
| Progress * | m_progress = nullptr |
| Non-owing pointer to a progress interface. May be a nullptr. | |
| FactoryInfo | m_factoryInfo = {} |
| Record describing how this algorithm was instantiated by the AlgorithmFactory. | |
| int | m_status = Status::Unknown |
| Algorithm status after last call to compute(). | |
| std::vector< Action > | m_actions |
| Map of key given by the id of the action, of the available actions of this algorithm. | |
| Protected Attributes inherited from ImFusion::Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
| ImFusion::MonocularStreamDepthEstimationAlgorithm::MonocularStreamDepthEstimationAlgorithm | ( | ImageStream & | inputStream, |
| std::unique_ptr< Algorithm > | algorithm = nullptr ) |
| inputStream | Monocular camera stream; must provide CameraCalibrationDataComponent. |
| algorithm | Optional per-frame processor passed to StreamAlgorithmExecutor (must implement SequentialImageProcessor). MonocularDepthEstimationAlgorithm is the recommended algorithm; if nullptr, an instance is created lazily from streamAlgorithmName() on the first frame. |
|
overridevirtual |
Overrides the default process algorithm to ensure the original input image is passed through.
This synchronization between the input color image and the output depth image is required for accurate glPointCloudDense visualization. The calibration data component is also essential for this process.
Implements ImFusion::BackgroundThreadConsumer< StreamAlgorithmExecutorPayload >.