StereoImageStream Class Reference

#include <ImFusion/Vision/StereoImageStream.h>

Base class for streams based on stereo images. More...

Inheritance diagram for StereoImageStream:

Detailed Description

Base class for streams based on stereo images.

The derived class should implement the synchronization of the stereo streams:

• Either with arrival or device timestamps
• How long should one stream wait for the other
• Whether the stream should be blocked while waiting for each other

Public Types
enum class	SyncMode { None = 0 , ArrivalTimestamps , DeviceTimestamps }
Public Types inherited from 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 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 Member Functions
	StereoImageStream (const std::string &name="")
virtual ImageStream *	leftStream () const =0
virtual ImageStream *	rightStream () const =0
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;.
virtual void	setSyncMode (SyncMode mode)=0
	Set the synchronization mode.
virtual SyncMode	syncMode () const =0
virtual void	setSyncThreshold (double thresholdMs)=0
	Set the threshold for synchronizing the streams in milliseconds. Only images with timestamp difference within the specified threshold are emitted.
virtual double	syncThreshold () const =0
virtual void	setSyncBlocking (bool blocking)=0
	Sets whether the stream should block the input streams until the current stereo frame has been processed.
virtual bool	isSyncBlocking () const =0
std::string	describe () const override
	Short description of the stream including latest state and update rate information.
Public Member Functions inherited from 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 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 ()=0
	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 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 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 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 StreamGroup< StereoImageStream >
	StreamGroup (StreamGroup &&) noexcept
StreamGroup &	operator= (StreamGroup &&other) noexcept
Stream *	proxyStream () override
	Convenience method to cast the stream group to the proxy stream.
DataList	children () const override
	Returns substreams as a non-owning data list implementing the CompoundData interface.
std::vector< Stream * >	substreams () const override
	Returns the substreams.
Public Member Functions inherited from 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.

Additional Inherited Members
Static Public Member Functions inherited from Stream
static std::string	stateToString (State state)
Static Public Member Functions inherited from 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 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 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 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 Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Public Attributes inherited from Selectable
ProtectedSignal	signalSelectionChanged
	Signals that the selection or size might have changed.
Public Attributes inherited from StreamGroupBase
ProtectedSignal< std::shared_ptr< const CompoundStreamData > >	signalNewStreamGroupData
	Signal contains all StreamData from the substreams.
Public Attributes inherited from 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 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 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 Data
void	swapWith (Data &other)
	Swaps the data and emits a matrix and name changed signal for both.
Protected Member Functions inherited from 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)
Protected Member Functions inherited from StreamGroupBase
void	reassignSubstream (SubstreamBase *substream)
	Reassigns child to this (needed for move operator)
Protected Member Functions inherited from NotCopyable
	NotCopyable (NotCopyable &&) noexcept=default
NotCopyable &	operator= (NotCopyable &&) noexcept=default
	NotCopyable (const NotCopyable &)=delete
NotCopyable &	operator= (const NotCopyable &)=delete
Protected Member Functions inherited from SignalReceiver
void	disconnectAll ()
	Disconnects all existing connections.
Protected Attributes inherited from 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 Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.
Protected Attributes inherited from Selectable
std::mutex	m_selectionMutex
	Mutex protecting the selection.
Selection	m_sel

Member Enumeration Documentation

SyncMode

enum class SyncMode

strong

Enumerator
None	Don't synchronize streams.
ArrivalTimestamps	Synchronize streams based on arrival timestamps.
DeviceTimestamps	Synchronize streams based on device timestamps.

Member Function Documentation

leftStream()

virtual ImageStream * leftStream ( ) const

pure virtual

Implemented in GroupedStereoImageStream, and PlaybackStereoImageStream.

openImpl()

bool openImpl ( )

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 Stream.

closeImpl()

bool closeImpl ( )

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 Stream.

startImpl()

bool startImpl ( )

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 Stream.

stopImpl()

bool stopImpl ( )

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 Stream.

pauseImpl()

bool pauseImpl ( )

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 Stream.

resumeImpl()

bool resumeImpl ( )

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 Stream.

supportsPausing()

bool supportsPausing ( ) const

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 Stream.

doWork()

std::optional< WorkContinuation > doWork ( )

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 Stream.

setSyncMode()

virtual void setSyncMode ( SyncMode mode )

pure virtual

Set the synchronization mode.

Implemented in GroupedStereoImageStream, and PlaybackStereoImageStream.

setSyncThreshold()

virtual void setSyncThreshold ( double thresholdMs )

pure virtual

Set the threshold for synchronizing the streams in milliseconds. Only images with timestamp difference within the specified threshold are emitted.

Implemented in GroupedStereoImageStream, and PlaybackStereoImageStream.

setSyncBlocking()

virtual void setSyncBlocking ( bool blocking )

pure virtual

Sets whether the stream should block the input streams until the current stereo frame has been processed.

Implemented in GroupedStereoImageStream, and PlaybackStereoImageStream.

describe()

std::string describe ( ) const

overridevirtual

Short description of the stream including latest state and update rate information.

Reimplemented from ImageStream.

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The documentation for this class was generated from the following file:

• ImFusion/Vision/StereoImageStream.h