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ImFusion C++ SDK 4.5.0
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ImFusion C++ SDK 4.5.0
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#include <ROSPlugin/Include/ImFusion/ROS/Stream/ROSTopicTrackingStream.h>
Tracking streams which are generated by listening to ROS Transform/Pose topics. More...
Tracking streams which are generated by listening to ROS Transform/Pose topics.
The ROSTopicTrackingStream listens for transform messages published on the specified topic, and publishes them as a TrackingStream.
There is no support yet for the tf frame within the ImFusion framework. The transform will be with respect to the world coordindate system. As usual, the calibration transform of the TrackingStream can be used to offset the origin from the world reference frame. The same holds for the registration transform, which adds a further static transform after the one received by ROS.
Public Member Functions | |
| ROSTopicTrackingStream (const std::string &name="ROS Topic Tracking Stream", const std::string &topicName="", const std::string &trackingInstrument="") | |
| Public Member Functions inherited from ImFusion::TrackingStream | |
| TrackingStream (const std::string &name="Tracking Stream") | |
| virtual std::vector< TrackingInstrument > | instruments () const |
| Returns a copy of all tracking instruments (active and inactive) with their last status. | |
| virtual std::vector< TrackingInstrument > | activeInstruments () const |
| Returns a copy of all active tracking instruments with their last status. | |
| virtual int | numInstruments (bool activeOnly=false) const |
| Returns the number of instruments (all or only active instruments). | |
| Kind | kind () const override |
| Returns the kind of stream. | |
| void | setMainInstrument (unsigned int index) |
| Sets the index of the main tracking target. | |
| virtual bool | supportsMainInstrumentSelection () const |
| Returns true if main instrument can be set from outside. | |
| void | setMainInstrumentById (const std::string &id) |
| Sets the main tracking target by the ID of the TrackingInstrument (TrackerID::m_id). | |
| unsigned int | mainInstrumentIndex () const |
| Returns the index of the main tracking target in the instruments array. | |
| std::string | mainInstrumentId () const |
| Returns the unique ID of the main instrument. | |
| std::string | mainInstrumentName () const |
| Returns the name of the main instrument. | |
| virtual bool | supportsInstrumentRenaming () const |
| Returns true if the name of an instrument can be set from outside. | |
| void | setInstrumentName (const std::string &id, const std::string &name) |
| Sets the name of the TrackingInstrument for the specified id. | |
| void | setInstrumentActive (const std::string &id, bool active) |
| Sets the tracking instrument with the given ID as either active or inactive. | |
| bool | isInstrumentActive (const std::string &id) const |
| Returns whether the instrument with the given ID is active. | |
| std::optional< TrackingInstrument > | queryInstrument (const std::string &id) const |
| Queries the instrument with the given ID from m_instruments. | |
| std::string | describe () const override |
| Provides a short description of the stream, including the number of instruments, latest stream state, and update rate information. | |
| 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. | |
| virtual bool | supportsPausing () const |
| Override and return true if this stream implements the pausing and resume operations. | |
| 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. | |
| 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. | |
| 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. | |
| virtual Modality | modality () const |
| Return the modality of this data. | |
| 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::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. | |
TrackingStream interface | |
| Parameter< std::string > | p_topicName = {"topicName", "", *this} |
| Name of the ROS topic on which the transform will be published. | |
| Parameter< std::string > | p_topicType = {"topicType", "", *this} |
| Type of the ROS topic on which the transform will be published. | |
| Parameter< std::string > | p_trackingInstrumentName = {"trackingInstrumentName", "", *this} |
| Name of the tracking instrument relative to this stream. | |
| std::vector< TrackingInstrument > | devices () const override |
| Returns a copy of all tracking instruments (active and inactive) with their last status. | |
| bool | openImpl () override |
| Open stream. | |
| bool | closeImpl () override |
| Close stream. | |
| bool | startImpl () override |
| Start stream. | |
| bool | stopImpl () override |
| Stop stream. | |
| 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;. | |
Stream interface | |
| Kind | kind () const override |
| Return the kind of this data. | |
| Pose::TransformationConvention | matrixConvention () const override |
| Defines whether the internally stored matrices in derived classes map from or to the world coordinate system. | |
| std::string | uuid () override |
| Unique identifier for stream. | |
Additional Inherited Members | |
| 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... | |
| 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. | |
| Public Attributes inherited from ImFusion::TrackingStream | |
| ProtectedSignal & | signalTrackingDevicesUpdated |
| Emitted when the list of instruments is updated. | |
| ProtectedSignal | signalInstrumentsUpdated |
| Emitted when the list of instruments is altered (instrument added, instrument removed, or list cleared). | |
| ProtectedSignal< const std::string & > | signalMainInstrumentChanged |
| Emitted when the main instrument has changed, with the new instrument ID. | |
| 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. | |
| Protected Member Functions inherited from ImFusion::TrackingStream | |
| void | emitSignals (const InstrumentUpdate &update) |
| Convenience method to be called after any instrument modification. | |
| std::unique_ptr< TrackingStreamData > | createTrackingStreamData () |
| Creates the TrackingStreamData with a copy of all instruments and sets the timestamps. | |
| Protected Member Functions inherited from ImFusion::Stream | |
| virtual bool | pauseImpl () |
| Pause stream (not required to be supported). | |
| virtual bool | resumeImpl () |
| Resume stream from pause (only required to be supported when pauseImpl() is supported). | |
| virtual bool | workerThreadRequiresOpenGl () const |
| Override and return true if worker thread should create a GL::Context. | |
| 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::SignalReceiver | |
| void | disconnectAll () |
| Disconnects all existing connections. | |
| Protected Attributes inherited from ImFusion::TrackingStream | |
| std::unique_ptr< ThreadSafeInstrumentsBase > | m_instruments |
| Container for TrackingInstruments of this tracking stream. | |
| 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. | |
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inlineoverridevirtual |
Return the kind of this data.
Implements ImFusion::Data.
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inlineoverridevirtual |
Defines whether the internally stored matrices in derived classes map from or to the world coordinate system.
Changes the behavior of the default implementations of matrixToWorld and matrixFromWorld.
Implements ImFusion::Data.
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overridevirtual |
Unique identifier for stream.
Reimplemented from ImFusion::Stream.
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overridevirtual |
Returns a copy of all tracking instruments (active and inactive) with their last status.
Method internally calls TrackingStream::instrumens if not overridden by a derived class.
Reimplemented from ImFusion::TrackingStream.
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overrideprotectedvirtual |
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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overrideprotectedvirtual |
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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overrideprotectedvirtual |
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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overrideprotectedvirtual |
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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overrideprotectedvirtual |
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.