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#include <pcl/io/image_grabber.h>

Public Types

using Ptr = shared_ptr< ImageGrabber >
using ConstPtr = shared_ptr< const ImageGrabber >

Public Member Functions

ImageGrabber (const std::string &dir, float frames_per_second=0, bool repeat=false, bool pclzf_mode=false)
ImageGrabber (const std::string &depth_dir, const std::string &rgb_dir, float frames_per_second=0, bool repeat=false)
ImageGrabber (const std::vector< std::string > &depth_image_files, float frames_per_second=0, bool repeat=false)
~ImageGrabber () noexcept
Empty destructor. More...
const pcl::PointCloud< PointT >::ConstPtr operator[] (std::size_t idx) const override
operator[] Returns the idx-th cloud in the dataset, without bounds checking. More...
std::size_t size () const override
size Returns the number of clouds currently loaded by the grabber More...
- Public Member Functions inherited from pcl::ImageGrabberBase
ImageGrabberBase (const std::string &directory, float frames_per_second, bool repeat, bool pclzf_mode)
Constructor taking a folder of depth+[rgb] images. More...
ImageGrabberBase (const std::string &depth_directory, const std::string &rgb_directory, float frames_per_second, bool repeat)
ImageGrabberBase (const std::vector< std::string > &depth_image_files, float frames_per_second, bool repeat)
Constructor taking a list of paths to PCD files, that are played in the order they appear in the list. More...
~ImageGrabberBase () noexcept
Virtual destructor. More...
void start () override
Starts playing the list of PCD files if frames_per_second is > 0. More...
void stop () override
Stops playing the list of PCD files if frames_per_second is > 0. More...
virtual void trigger ()
Triggers a callback with new data. More...
bool isRunning () const override
whether the grabber is started (publishing) or not. More...
std::string getName () const override
virtual void rewind ()
Rewinds to the first PCD file in the list. More...
float getFramesPerSecond () const override
Returns the frames_per_second. More...
bool isRepeatOn () const
Returns whether the repeat flag is on. More...
bool atLastFrame () const
Returns if the last frame is reached. More...
std::string getCurrentDepthFileName () const
Returns the filename of the current indexed file. More...
std::string getPrevDepthFileName () const
Returns the filename of the previous indexed file SDM: adding this back in, but is this useful, or confusing? More...
std::string getDepthFileNameAtIndex (std::size_t idx) const
Get the depth filename at a particular index. More...
bool getTimestampAtIndex (std::size_t idx, std::uint64_t &timestamp) const
Query only the timestamp of an index, if it exists. More...
void setRGBImageFiles (const std::vector< std::string > &rgb_image_files)
Manually set RGB image files. More...
virtual void setCameraIntrinsics (const double focal_length_x, const double focal_length_y, const double principal_point_x, const double principal_point_y)
Define custom focal length and center pixel. More...
virtual void getCameraIntrinsics (double &focal_length_x, double &focal_length_y, double &principal_point_x, double &principal_point_y) const
Get the current focal length and center pixel. More...
void setDepthImageUnits (float units)
Define the units the depth data is stored in. More...
void setNumberOfThreads (unsigned int nr_threads=0)
Set the number of threads, if we wish to use OpenMP for quicker cloud population. More...
- Public Member Functions inherited from pcl::Grabber
Grabber ()=default
Default ctor. More...
Grabber (const Grabber &)=delete
No copy ctor since Grabber can't be copied. More...
Grabber & operator= (const Grabber &)=delete
No copy assign operator since Grabber can't be copied. More...
Grabber (Grabber &&)=default
Move ctor. More...
Grabber & operator= (Grabber &&)=default
Move assign operator. More...
virtual ~Grabber () noexcept=default
virtual destructor. More...
template<typename T >
boost::signals2::connection registerCallback (const std::function< T > &callback)
registers a callback function/method to a signal with the corresponding signature More...
template<typename T >
bool providesCallback () const noexcept
indicates whether a signal with given parameter-type exists or not More...
bool toggle ()
For devices that are streaming, stopped streams are started and running stream are stopped. More...
- Public Member Functions inherited from pcl::FileGrabber< PointT >
virtual ~FileGrabber ()
Empty destructor. More...
virtual const pcl::PointCloud< PointT >::ConstPtr at (std::size_t idx) const
at Returns the idx-th cloud in the dataset, with bounds checking More...

Protected Member Functions

void publish (const pcl::PCLPointCloud2 &blob, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation) const override
- Protected Member Functions inherited from pcl::ImageGrabberBase
std::size_t numFrames () const
Convenience function to see how many frames this consists of. More...
bool getCloudAt (std::size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const
Gets the cloud in ROS form at location idx. More...
- Protected Member Functions inherited from pcl::Grabber
virtual void signalsChanged ()
template<typename T >
boost::signals2::signal< T > * find_signal () const noexcept
template<typename T >
int num_slots () const noexcept
template<typename T >
void disconnect_all_slots ()
template<typename T >
void block_signal ()
template<typename T >
void unblock_signal ()
void block_signals ()
void unblock_signals ()
template<typename T >
boost::signals2::signal< T > * createSignal ()

Protected Attributes

boost::signals2::signal< void(const typename pcl::PointCloud< PointT >::ConstPtr &)> * signal_
- Protected Attributes inherited from pcl::Grabber
std::map< std::string, std::unique_ptr< boost::signals2::signal_base > > signals_
std::map< std::string, std::vector< boost::signals2::connection > > connections_
std::map< std::string, std::vector< boost::signals2::shared_connection_block > > shared_connections_

Detailed Description

template<typename PointT>
class pcl::ImageGrabber< PointT >

Definition at line 199 of file image_grabber.h.

Member Typedef Documentation

ConstPtr

template<typename PointT >
using pcl::ImageGrabber< PointT >::ConstPtr = shared_ptr<const ImageGrabber>

Definition at line 203 of file image_grabber.h.

Ptr

template<typename PointT >
using pcl::ImageGrabber< PointT >::Ptr = shared_ptr<ImageGrabber>

Definition at line 202 of file image_grabber.h.

Constructor & Destructor Documentation

ImageGrabber() [1/3]

template<typename PointT >
pcl::ImageGrabber< PointT >::ImageGrabber ( const std::string & dir,
float frames_per_second = 0,
bool repeat = false,
bool pclzf_mode = false
)

ImageGrabber() [2/3]

template<typename PointT >
pcl::ImageGrabber< PointT >::ImageGrabber ( const std::string & depth_dir,
const std::string & rgb_dir,
float frames_per_second = 0,
bool repeat = false
)

ImageGrabber() [3/3]

template<typename PointT >
pcl::ImageGrabber< PointT >::ImageGrabber ( const std::vector< std::string > & depth_image_files,
float frames_per_second = 0,
bool repeat = false
)

~ImageGrabber()

template<typename PointT >
pcl::ImageGrabber< PointT >::~ImageGrabber ( )
inlinenoexcept

Empty destructor.

Definition at line 220 of file image_grabber.h.

Member Function Documentation

operator[]()

template<typename PointT >
const pcl::PointCloud< PointT >::ConstPtr pcl::ImageGrabber< PointT >::operator[] ( std::size_t idx ) const
overridevirtual

operator[] Returns the idx-th cloud in the dataset, without bounds checking.

Note that in the future, this could easily be modified to do caching

Parameters
[in] idx The frame to load

Implements pcl::FileGrabber< PointT >.

Definition at line 272 of file image_grabber.h.

References pcl::fromPCLPointCloud2(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

publish()

template<typename PointT >
void pcl::ImageGrabber< PointT >::publish ( const pcl::PCLPointCloud2 & blob,
const Eigen::Vector4f & origin,
const Eigen::Quaternionf & orientation
) const
overrideprotectedvirtual

size()

template<typename PointT >
std::size_t pcl::ImageGrabber< PointT >::size ( ) const
overridevirtual

size Returns the number of clouds currently loaded by the grabber

Implements pcl::FileGrabber< PointT >.

Definition at line 287 of file image_grabber.h.

Member Data Documentation

signal_

template<typename PointT >
boost::signals2::signal<void (const typename pcl::PointCloud<PointT>::ConstPtr&)>* pcl::ImageGrabber< PointT >::signal_
protected

Definition at line 235 of file image_grabber.h.

Referenced by pcl::ImageGrabber< PointT >::ImageGrabber().


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_image_grabber.html