bool CvSplit_Processor::onInit()
{
LOG(LTRACE) << "CvSplit_Processor::initialize\n";
h_onNewImage.setup(this, &CvSplit_Processor::onNewImage);
registerHandler("onNewImage", &h_onNewImage);
registerStream("in_img", &in_img);
newImage = registerEvent("newImage");
if (props.channels < 1) {
LOG(LERROR) << "CvSplit_Processor::number of channels must be positive\n";
return false;
}
mv.resize(props.channels);
out_img.resize(props.channels);
for (int i = 0; i < props.channels; ++i) {
out_img[i] = new Base::DataStreamOut<cv::Mat>;
registerStream("out_img_"+int2str(i), out_img[i]);
}
return true;
}
void HomogMatrixPub::prepareInterface() {
// Register data streams, events and event handlers HERE!
//input streams
registerStream("in_matrix", &in_matrix);
registerStream("in_found", &in_found);
registerStream("in_time_nsec_pocz", &in_time_nsec_pocz);
registerStream("in_time_sec_pocz", &in_time_sec_pocz);
//output streams
registerStream("out_matrix", &out_matrix);
registerStream("out_found", &out_found);
registerStream("out_time_nsec_pocz", &out_time_nsec_pocz);
registerStream("out_time_sec_pocz", &out_time_sec_pocz);
registerStream("out_time_nsec_kon", &out_time_nsec_kon);
registerStream("out_time_sec_kon", &out_time_sec_kon);
// Register handlers
h_onNewData.setup(boost::bind(&HomogMatrixPub::onNewData, this));
registerHandler("onNewData", &h_onNewData);
addDependency("onNewData", &in_matrix);
addDependency("onNewData", &in_found);
//addDependency("onNewData", &in_time_nsec_pocz);
//addDependency("onNewData", &in_time_sec_pocz);
//registerProperty(trigger_delay);
}
void CloudViewer::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_cloud_xyz", &in_cloud_xyz);
registerStream("in_cloud_xyzrgb", &in_cloud_xyzrgb);
registerStream("in_cloud_xyzsift", &in_cloud_xyzsift);
registerStream("in_cloud_normals", &in_cloud_normals);
registerStream("in_cloud_xyzrgb_normals", &in_cloud_xyzrgb_normals);
// Register handlers
registerHandler("on_cloud_xyz",
boost::bind(&CloudViewer::on_cloud_xyz, this));
addDependency("on_cloud_xyz", &in_cloud_xyz);
registerHandler("on_cloud_xyzrgb",
boost::bind(&CloudViewer::on_cloud_xyzrgb, this));
addDependency("on_cloud_xyzrgb", &in_cloud_xyzrgb);
registerHandler("on_cloud_xyzsift",
boost::bind(&CloudViewer::on_cloud_xyzsift, this));
addDependency("on_cloud_xyzsift", &in_cloud_xyzsift);
registerHandler("on_cloud_normals",
boost::bind(&CloudViewer::on_cloud_normals, this));
addDependency("on_cloud_normals", &in_cloud_normals);
registerHandler("on_spin", boost::bind(&CloudViewer::on_spin, this));
addDependency("on_spin", NULL);
registerHandler("on_cloud_xyzrgb_normals",
boost::bind(&CloudViewer::on_cloud_xyzrgb_normals, this));
addDependency("on_cloud_xyzrgb_normals", &in_cloud_xyzrgb_normals);
}
bool CameraNUI::onInit() {
LOG(LTRACE) << "CameraNUI::initialize\n";
// Regsiter events
newImage = registerEvent("newImage");
newDepthMap = registerEvent("newDepthMap");
// Register data streams
registerStream("out_img", &outImg);
registerStream("out_depth_map", &outDepthMap);
//
#ifdef WITH_OPENNI
if(lib == opencv) {
capture.open( CV_CAP_OPENNI );
std::cout << "Yes. We're here\n";
} else {
#endif
device = &freenectObj.createDevice<FreenectNUIDevice>(0);
#ifdef WITH_OPENNI
}
#endif
cameraFrame = Mat(Size(640,480),CV_8UC3,Scalar(0));
depthFrame = Mat(Size(640,480),CV_16UC1);
return true;
}
void CvWindow_Sink::prepareInterface() {
CLOG(LTRACE) << "CvWindow_Sink::configure\n";
h_onRefresh.setup(this, &CvWindow_Sink::onRefresh);
registerHandler("onRefresh", &h_onRefresh);
addDependency("onRefresh", NULL);
Base::EventHandler2 * hand;
for (int i = 0; i < count; ++i) {
char id = '0' + i;
hand = new Base::EventHandler2;
hand->setup(boost::bind(&CvWindow_Sink::onNewImageN, this, i));
handlers.push_back(hand);
registerHandler(std::string("onNewImage") + id, hand);
Base::DataStreamIn<cv::Mat, Base::DataStreamBuffer::Newest,
Base::Synchronization::Mutex> * stream =
new Base::DataStreamIn<cv::Mat, Base::DataStreamBuffer::Newest,
Base::Synchronization::Mutex>;
in_img.push_back(stream);
registerStream(std::string("in_img") + id,
(Base::DataStreamInterface*) (in_img[i]));
addDependency(std::string("onNewImage") + id, stream);
in_draw.push_back(new Base::DataStreamInPtr<Types::Drawable>);
registerStream(std::string("in_draw") + id, in_draw[i]);
out_point.push_back(new Base::DataStreamOut<cv::Point>);
registerStream(std::string("out_point") + id, out_point[i]);
// save handlers
hand = new Base::EventHandler2;
hand->setup(boost::bind(&CvWindow_Sink::onSaveImageN, this, i));
handlers.push_back(hand);
registerHandler(std::string("onSaveImage") + id, hand);
}
h_onSaveAllImages.setup(this, &CvWindow_Sink::onSaveAllImages);
registerHandler("onSaveAllImages", &h_onSaveAllImages);
// register aliases for first handler and streams
registerHandler("onNewImage", handlers[0]);
registerStream("in_img", in_img[0]);
registerStream("in_draw", in_draw[0]);
img.resize(count);
to_draw.resize(count);
// Split window titles.
std::string t = title;
boost::split(titles, t, boost::is_any_of(","));
if ((titles.size() == 1) && (count > 1))
titles.clear();
for (int i = titles.size(); i < count; ++i) {
char id = '0' + i;
titles.push_back(std::string(title) + id);
}
}
void SphereGenerator::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("out_pcl_ptr", &out_pcl_ptr);
registerStream("out_pcl", &out_pcl);
// Register handlers
h_Generate.setup(boost::bind(&SphereGenerator::Generate, this));
registerHandler("Generate", &h_Generate);
}
void CalcStatistics::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_homogMatrix", &in_homogMatrix);
registerStream("out_homogMatrix", &out_homogMatrix);
// Register handlers
registerHandler("calculate", boost::bind(&CalcStatistics::calculate,this));
addDependency("calculate", &in_homogMatrix);
}
void MLS::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_cloud_xyzrgb", &in_cloud_xyzrgb);
registerStream("out_cloud_xyzrgb", &out_cloud_xyzrgb);
h_compute_xyzrgb.setup(boost::bind(&MLS::compute, this));
registerHandler("h_compute_xyzrgb", &h_compute_xyzrgb);
addDependency("h_compute_xyzrgb", &in_cloud_xyzrgb);
}
void CvFAST::prepareInterface() {
// Register handlers with their dependencies.
registerHandler("onNewImage", boost::bind(&CvFAST::onNewImage, this));
addDependency("onNewImage", &in_img);
// Input and output data streams.
registerStream("in_img", &in_img);
registerStream("out_features", &out_features);
}
void CalcObjectLocation::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_homogMatrix", &in_homogMatrix);
registerStream("out_homogMatrix", &out_homogMatrix);
// Register handlers
h_calculate.setup(this, &CalcObjectLocation::calculate);
registerHandler("calculate", &h_calculate);
addDependency("calculate", &in_homogMatrix);
}
void SIFTNOMWriter::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_som", &in_som);
registerStream("in_cloud_xyzrgb_normals", &in_cloud_xyzrgb_normals);
registerStream("in_cloud_xyzsift", &in_cloud_xyzsift);
registerStream("in_mean_viewpoint_features_number", &in_mean_viewpoint_features_number);
// Register handlers
registerHandler("WriteNormals", boost::bind(&SIFTNOMWriter::WriteNormals, this));
}
void xyzrgb2xyzsift::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_cloud_xyzrgb", &in_cloud_xyzrgb);
registerStream("out_cloud_xyzsift", &out_cloud_xyzsift);
// Register handlers
h_compute.setup(boost::bind(&xyzrgb2xyzsift::compute, this));
registerHandler("compute", &h_compute);
addDependency("compute", &in_cloud_xyzrgb);
}
void PassThrough::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_cloud", &in_cloud);
registerStream("out_cloud", &out_cloud);
// Register handlers
h_filter.setup(boost::bind(&PassThrough::filter, this));
registerHandler("filter", &h_filter);
addDependency("filter", &in_cloud);
}
void CvAdaptiveThreshold_Processor::prepareInterface() {
// Register data streams, events and event handlers HERE!
h_onNewImage.setup(this, &CvAdaptiveThreshold_Processor::onNewImage);
registerHandler("onNewImage", &h_onNewImage);
addDependency("onNewImage", &in_img);
registerStream("in_img", &in_img);
registerStream("out_img", &out_img);
}
void CvFilter2D_Processor::prepareInterface() {
h_onNewImage.setup(this, &CvFilter2D_Processor::onNewImage);
registerHandler("onNewImage", &h_onNewImage);
addDependency("onNewImage", &in_img);
registerStream("in_img", &in_img);
registerStream("out_img", &out_img);
}
void Harris3DKeypoints::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_cloud", &in_cloud);
registerStream("out_keypoints", &out_keypoints);
h_compute.setup(boost::bind(&Harris3DKeypoints::compute, this));
registerHandler("compute", &h_compute);
addDependency("compute", &in_cloud);
}
void PCDReader::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("out_cloud_xyz", &out_cloud_xyz);
registerStream("out_cloud_xyzrgb", &out_cloud_xyzrgb);
registerStream("out_cloud_xyzsift", &out_cloud_xyzsift);
// Register handlers
registerHandler("Read", boost::bind(&PCDReader::Read, this));
//addDependency("Read", NULL);
}
void CorrespondenceEstimation::prepareInterface() {
// Register src-trg related data streams.
registerStream("in_src_cloud_xyzsift", &in_src_cloud_xyzsift);
registerStream("in_trg_cloud_xyzsift", &in_trg_cloud_xyzsift);
registerStream("out_correspondences", &out_src_trg_correspondences);
registerStream("out_corest", &out_corest);
// Register lum related data streams.
registerStream("in_lum_xyzsift", &in_lum_xyzsift);
registerStream("out_lum_xyzsift", &out_lum_xyzsift);
// Register models-scene related data streams.
registerStream("in_scene_cloud_xyzsift", &in_trg_cloud_xyzsift);
registerStream("in_model_clouds_xyzsift", &in_model_clouds_xyzsift);
registerStream("out_models_scene_correspondences", &out_models_scene_correspondences);
// Register src-trg correspondence estimation handler.
registerHandler("estimateCorrespondencesForPairOfClouds", boost::bind(&CorrespondenceEstimation::estimateCorrespondencesForPairOfClouds, this));
addDependency("estimateCorrespondencesForPairOfClouds", &in_src_cloud_xyzsift);
addDependency("estimateCorrespondencesForPairOfClouds", &in_trg_cloud_xyzsift);
// Register lum-related correspondence estimation handler.
registerHandler("estimateCorrespondencesForLUMGraph", boost::bind(&CorrespondenceEstimation::estimateCorrespondencesForLUMGraph, this));
addDependency("estimateCorrespondencesForLUMGraph", &in_lum_xyzsift);
// Register src-trg correspondence estimation handler.
registerHandler("estimateCorrespondencesBeteenModelsAndScene", boost::bind(&CorrespondenceEstimation::estimateCorrespondencesBeteenModelsAndScene, this));
addDependency("estimateCorrespondencesBeteenModelsAndScene", &in_trg_cloud_xyzsift);
addDependency("estimateCorrespondencesBeteenModelsAndScene", &in_model_clouds_xyzsift);
}
void SIFTClusterExtraction::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_cloud_xyzsift", &in_cloud_xyzsift);
registerStream("out_clusters", &out_clusters);
registerStream("out_clusters_xyz", &out_clusters_xyz);
// Register handlers
h_extract.setup(boost::bind(&SIFTClusterExtraction::extract, this));
registerHandler("extract", &h_extract);
addDependency("extract", &in_cloud_xyzsift);
}
void RANSACSphere::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_pcl", &in_pcl);
registerStream("out_outliers", &out_outliers);
registerStream("out_inliers", &out_inliers);
// Register handlers
h_ransac.setup(boost::bind(&RANSACSphere::ransac, this));
registerHandler("ransac", &h_ransac);
addDependency("ransac", &in_pcl);
}
void HomographyPoints::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_corners", &in_corners);
registerStream("in_points", &in_points);
registerStream("out_points", &out_points);
// Register handlers
registerHandler("findHomography_proc", boost::bind(&HomographyPoints::findHomography_proc, this));
addDependency("findHomography_proc", &in_corners);
addDependency("findHomography_proc", &in_points);
}
void SingleS2OMJsonReader::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("out_cloud_xyzrgb", &out_cloud_xyzrgb);
registerStream("out_cloud_xyzsift", &out_cloud_xyzsift);
registerStream("out_cloud_xyzshot", &out_cloud_xyzshot);
registerStream("out_name", &out_name);
// Register handlers
h_loadModel.setup(boost::bind(&SingleS2OMJsonReader::loadModel, this));
registerHandler("loadModel", &h_loadModel);
addDependency("loadModel", NULL);
}
void Drawcircles::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_img", &in_img);
registerStream("circles", &circles);
registerStream("out_img", &out_img);
// Register handlers
h_DrawCircles.setup(boost::bind(&Drawcircles::DrawCircles, this));
registerHandler("DrawCircles", &h_DrawCircles);
addDependency("DrawCircles", &in_img);
addDependency("DrawCircles", &circles);
}
void ClusterExtraction::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_pcl", &in_pcl);
registerStream("out_indices", &out_indices);
registerStream("out_clusters", &out_clusters);
registerStream("out_the_biggest_cluster", &out_the_biggest_cluster);
// Register handlers
h_extract.setup(boost::bind(&ClusterExtraction::extract, this));
registerHandler("extract", &h_extract);
addDependency("extract", &in_pcl);
}
void CvBRISK::prepareInterface() {
// Register handlers with their dependencies.
h_onNewImage.setup(this, &CvBRISK::onNewImage);
registerHandler("onNewImage", &h_onNewImage);
addDependency("onNewImage", &in_img);
// objectImg and output data streams.
registerStream("in_img", &in_img);
registerStream("out_features", &out_features);
registerStream("out_descriptors", &out_descriptors);
}
void ReprojectionError::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_correspondences", &in_correspondences);
registerStream("in_xyz_cloud_expected", &in_xyz_cloud_expected);
registerStream("in_xyz_cloud_obtained", &in_xyz_cloud_obtained);
registerStream("out_error", &out_error);
registerHandler("compute", boost::bind(&ReprojectionError::compute, this));
addDependency("compute", &in_correspondences);
addDependency("compute", &in_xyz_cloud_expected);
addDependency("compute", &in_xyz_cloud_obtained);
}
void ImageWriter::prepareInterface() {
CLOG(LTRACE) << name() << "::prepareInterface()";
// Register handlers
Base::EventHandler2 * hand;
for (int i = 0; i < count; ++i) {
char id = '0'+i;
hand = new Base::EventHandler2;
hand->setup(boost::bind(&ImageWriter::write_image_N, this, i));
handlers.push_back(hand);
registerHandler(std::string("write_image_")+id, hand);
Base::DataStreamIn<cv::Mat, Base::DataStreamBuffer::Newest> * stream = new Base::DataStreamIn<cv::Mat, Base::DataStreamBuffer::Newest>;
in_img.push_back(stream);
registerStream( std::string("in_img")+id, (Base::DataStreamInterface*)(in_img[i]));
addDependency(std::string("write_image_")+id, stream);
// Add n flags for manual trigger.
bool tmp_flag = false;
save_flags.push_back(tmp_flag);
}
// register aliases for first handler and streams
registerHandler("write_image", handlers[0]);
registerStream("in_img", in_img[0]);
counts.resize(count, 0);
std::string t = base_name;
boost::split(base_names, t, boost::is_any_of(","));
if ( (base_names.size() == 1) && (count > 1) ) base_names.clear();
for (int i = base_names.size(); i < count; ++i) {
char id = '0' + i;
base_names.push_back(std::string(base_name) + id);
}
std::string f = format;
boost::split(formats, f, boost::is_any_of(","));
if ( (formats.size() == 1) && (count > 1) ) formats.clear();
for (int i = formats.size(); i < count; ++i) {
formats.push_back(format);
}
// Register handlers - next image, can be triggered manually (from GUI) or by new data present in_load_next_image_trigger dataport.
// 1st version - manually.
registerHandler("SaveImage", boost::bind(&ImageWriter::onSaveButtonPressed, this));
// 2nd version - external trigger.
registerHandler("onSaveTriggered", boost::bind(&ImageWriter::onSaveTriggered, this));
addDependency("onSaveTriggered", &in_trigger);
}
void Sum::prepareInterface() {
// Register handlers with their dependencies.
h_onNewImage.setup(this, &Sum::onNewImage);
registerHandler("onNewImage", &h_onNewImage);
addDependency("onNewImage", &in_img1);
addDependency("onNewImage", &in_img2);
// Input and output data streams.
registerStream("in_img1", &in_img1);
registerStream("in_img2", &in_img2);
registerStream("out_img", &out_img);
}
void CvColorConv_Processor::prepareInterface() {
CLOG(LTRACE) << "CvColorConv_Processor::prepareInterface\n";
h_onNewImage.setup(this, &CvColorConv_Processor::onNewImage);
registerHandler("onNewImage", &h_onNewImage);
registerStream("in_img", &in_img);
registerStream("out_img", &out_img);
addDependency("onNewImage", &in_img);
}
void ApplyCornerMask::prepareInterface() {
// Register data streams, events and event handlers HERE!
registerStream("in_corners", &in_corners);
registerStream("in_img", &in_img);
registerStream("out_img", &out_img);
// Register handlers
h_apply_mask.setup(boost::bind(&ApplyCornerMask::apply_mask, this));
registerHandler("apply_mask", &h_apply_mask);
addDependency("apply_mask", &in_corners);
addDependency("apply_mask", &in_img);
}
