A simple ONI grabber. More...
#include <pcl/io/oni_grabber.h>
Public Types | |
using | sig_cb_openni_image = void(const openni_wrapper::Image::Ptr &) |
using | sig_cb_openni_depth_image = void(const openni_wrapper::DepthImage::Ptr &) |
using | sig_cb_openni_ir_image = void(const openni_wrapper::IRImage::Ptr &) |
using | sig_cb_openni_image_depth_image = void(const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float) |
using | sig_cb_openni_ir_depth_image = void(const openni_wrapper::IRImage::Ptr &, const openni_wrapper::DepthImage::Ptr &, float) |
using | sig_cb_openni_point_cloud = void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &) |
using | sig_cb_openni_point_cloud_rgb = void(const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &) |
using | sig_cb_openni_point_cloud_rgba = void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &) |
using | sig_cb_openni_point_cloud_i = void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &) |
Public Member Functions | |
ONIGrabber (const std::string &file_name, bool repeat, bool stream) | |
constructor More... |
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~ONIGrabber () noexcept | |
destructor never throws an exception More... |
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void | start () override |
For devices that are streaming, the streams are started by calling this method. More... |
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void | stop () override |
For devices that are streaming, the streams are stopped. More... |
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std::string | getName () const override |
returns the name of the concrete subclass. More... |
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bool | isRunning () const override |
Indicates whether the grabber is streaming or not. More... |
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float | getFramesPerSecond () const override |
returns the frames pre second. More... |
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bool | hasDataLeft () |
Check if there is any data left in the ONI file to process. More... |
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Public Member Functions inherited from pcl::Grabber | |
Grabber ()=default | |
Default ctor. More... |
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Grabber (const Grabber &)=delete | |
No copy ctor since Grabber can't be copied. More... |
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Grabber & | operator= (const Grabber &)=delete |
No copy assign operator since Grabber can't be copied. More... |
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Grabber (Grabber &&)=default | |
Move ctor. More... |
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Grabber & | operator= (Grabber &&)=default |
Move assign operator. More... |
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virtual | ~Grabber () noexcept=default |
virtual destructor. More... |
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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... |
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template<typename T > | |
bool | providesCallback () const noexcept |
indicates whether a signal with given parameter-type exists or not More... |
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bool | toggle () |
For devices that are streaming, stopped streams are started and running stream are stopped. More... |
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Protected Member Functions | |
void | imageCallback (openni_wrapper::Image::Ptr image, void *cookie) |
internal OpenNI (openni_wrapper) callback that handles image streams More... |
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void | depthCallback (openni_wrapper::DepthImage::Ptr depth_image, void *cookie) |
internal OpenNI (openni_wrapper) callback that handles depth streams More... |
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void | irCallback (openni_wrapper::IRImage::Ptr ir_image, void *cookie) |
internal OpenNI (openni_wrapper) callback that handles IR streams More... |
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void | imageDepthImageCallback (const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) |
internal callback that handles synchronized image + depth streams More... |
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void | irDepthImageCallback (const openni_wrapper::IRImage::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) |
internal callback that handles synchronized IR + depth streams More... |
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pcl::PointCloud< pcl::PointXYZ >::Ptr | convertToXYZPointCloud (const openni_wrapper::DepthImage::Ptr &depth) const |
internal method to assemble a point cloud object More... |
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pcl::PointCloud< pcl::PointXYZRGB >::Ptr | convertToXYZRGBPointCloud (const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const |
internal method to assemble a point cloud object More... |
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pcl::PointCloud< pcl::PointXYZRGBA >::Ptr | convertToXYZRGBAPointCloud (const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const |
internal method to assemble a point cloud object More... |
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pcl::PointCloud< pcl::PointXYZI >::Ptr | convertToXYZIPointCloud (const openni_wrapper::IRImage::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const |
internal method to assemble a point cloud object More... |
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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 () |
A simple ONI grabber.
Definition at line 67 of file oni_grabber.h.
using pcl::ONIGrabber::sig_cb_openni_depth_image = void (const openni_wrapper::DepthImage::Ptr &) |
Definition at line 72 of file oni_grabber.h.
using pcl::ONIGrabber::sig_cb_openni_image = void (const openni_wrapper::Image::Ptr &) |
Definition at line 71 of file oni_grabber.h.
using pcl::ONIGrabber::sig_cb_openni_image_depth_image = void (const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float) |
Definition at line 74 of file oni_grabber.h.
using pcl::ONIGrabber::sig_cb_openni_ir_depth_image = void (const openni_wrapper::IRImage::Ptr &, const openni_wrapper::DepthImage::Ptr &, float) |
Definition at line 75 of file oni_grabber.h.
using pcl::ONIGrabber::sig_cb_openni_ir_image = void (const openni_wrapper::IRImage::Ptr &) |
Definition at line 73 of file oni_grabber.h.
using pcl::ONIGrabber::sig_cb_openni_point_cloud = void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &) |
Definition at line 76 of file oni_grabber.h.
using pcl::ONIGrabber::sig_cb_openni_point_cloud_i = void (const pcl::PointCloud<pcl::PointXYZI>::ConstPtr &) |
Definition at line 79 of file oni_grabber.h.
using pcl::ONIGrabber::sig_cb_openni_point_cloud_rgb = void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &) |
Definition at line 77 of file oni_grabber.h.
using pcl::ONIGrabber::sig_cb_openni_point_cloud_rgba = void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &) |
Definition at line 78 of file oni_grabber.h.
pcl::ONIGrabber::ONIGrabber | ( | const std::string & | file_name, |
bool | repeat, | ||
bool | stream | ||
) |
constructor
[in] | file_name | the path to the ONI file |
[in] | repeat | whether the play back should be in an infinite loop or not |
[in] | stream | whether the playback should be in streaming mode or in triggered mode. |
| noexcept |
destructor never throws an exception
| protected |
internal method to assemble a point cloud object
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internal method to assemble a point cloud object
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internal method to assemble a point cloud object
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internal method to assemble a point cloud object
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internal OpenNI (openni_wrapper) callback that handles depth streams
| overridevirtual |
| overridevirtual |
returns the name of the concrete subclass.
Implements pcl::Grabber.
| inline |
Check if there is any data left in the ONI file to process.
Definition at line 121 of file oni_grabber.h.
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internal OpenNI (openni_wrapper) callback that handles image streams
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internal callback that handles synchronized image + depth streams
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internal OpenNI (openni_wrapper) callback that handles IR streams
| protected |
internal callback that handles synchronized IR + depth streams
| overridevirtual |
Indicates whether the grabber is streaming or not.
This value is not defined for triggered devices.
Implements pcl::Grabber.
| overridevirtual |
For devices that are streaming, the streams are started by calling this method.
Trigger-based devices, just trigger the device once for each call of start.
Implements pcl::Grabber.
| overridevirtual |
For devices that are streaming, the streams are stopped.
This method has no effect for triggered devices.
Implements pcl::Grabber.
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Definition at line 183 of file oni_grabber.h.
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Definition at line 177 of file oni_grabber.h.
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Definition at line 182 of file oni_grabber.h.
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Definition at line 187 of file oni_grabber.h.
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Definition at line 181 of file oni_grabber.h.
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the actual openni device
Definition at line 175 of file oni_grabber.h.
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Definition at line 184 of file oni_grabber.h.
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Definition at line 189 of file oni_grabber.h.
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Definition at line 180 of file oni_grabber.h.
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Definition at line 186 of file oni_grabber.h.
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Definition at line 179 of file oni_grabber.h.
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Definition at line 185 of file oni_grabber.h.
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Definition at line 190 of file oni_grabber.h.
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Definition at line 188 of file oni_grabber.h.
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synchronizer object to synchronize IR and depth streams
Definition at line 172 of file oni_grabber.h.
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Definition at line 192 of file oni_grabber.h.
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Definition at line 193 of file oni_grabber.h.
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Definition at line 194 of file oni_grabber.h.
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Definition at line 191 of file oni_grabber.h.
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Definition at line 176 of file oni_grabber.h.
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synchronizer object to synchronize image and depth streams
Definition at line 169 of file oni_grabber.h.
| protected |
Definition at line 178 of file oni_grabber.h.
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_o_n_i_grabber.html