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#include <pcl/io/pcd_grabber.h>

Public Types

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

Public Member Functions

PCDGrabber (const std::string &pcd_path, float frames_per_second=0, bool repeat=false)
PCDGrabber (const std::vector< std::string > &pcd_files, float frames_per_second=0, bool repeat=false)
~PCDGrabber () noexcept
Virtual 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::PCDGrabberBase
PCDGrabberBase (const std::string &pcd_file, float frames_per_second, bool repeat)
Constructor taking just one PCD file or one TAR file containing multiple PCD files. More...
PCDGrabberBase (const std::vector< std::string > &pcd_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...
~PCDGrabberBase () 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
Indicates whether the grabber is streaming 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 getCloudAt (std::size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const
Get cloud (in ROS form) at a particular location. More...
std::size_t numFrames () const
Returns the size. 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 std::string &file_name) const override
- 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_
boost::signals2::signal< void(const std::string &)> * file_name_signal_
boost::signals2::signal< void(const openni_wrapper::DepthImage::Ptr &)> * depth_image_signal_
boost::signals2::signal< void(const openni_wrapper::Image::Ptr &)> * image_signal_
boost::signals2::signal< void(const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float constant)> * image_depth_image_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::PCDGrabber< PointT >

Definition at line 139 of file pcd_grabber.h.

Member Typedef Documentation

ConstPtr

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

Definition at line 143 of file pcd_grabber.h.

Ptr

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

Definition at line 142 of file pcd_grabber.h.

Constructor & Destructor Documentation

PCDGrabber() [1/2]

PCDGrabber() [2/2]

~PCDGrabber()

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

Virtual destructor.

Definition at line 149 of file pcd_grabber.h.

References pcl::PCDGrabberBase::stop().

Member Function Documentation

operator[]()

template<typename PointT >
const pcl::PointCloud< PointT >::ConstPtr pcl::PCDGrabber< 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 206 of file pcd_grabber.h.

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

publish()

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

size()

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

size Returns the number of clouds currently loaded by the grabber

Implements pcl::FileGrabber< PointT >.

Definition at line 221 of file pcd_grabber.h.

Member Data Documentation

depth_image_signal_

template<typename PointT >
boost::signals2::signal<void (const openni_wrapper::DepthImage::Ptr&)>* pcl::PCDGrabber< PointT >::depth_image_signal_
protected

Definition at line 170 of file pcd_grabber.h.

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

file_name_signal_

template<typename PointT >
boost::signals2::signal<void (const std::string&)>* pcl::PCDGrabber< PointT >::file_name_signal_
protected

Definition at line 167 of file pcd_grabber.h.

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

image_depth_image_signal_

template<typename PointT >
boost::signals2::signal<void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float constant)>* pcl::PCDGrabber< PointT >::image_depth_image_signal_
protected

Definition at line 172 of file pcd_grabber.h.

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

image_signal_

template<typename PointT >
boost::signals2::signal<void (const openni_wrapper::Image::Ptr&)>* pcl::PCDGrabber< PointT >::image_signal_
protected

Definition at line 171 of file pcd_grabber.h.

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

signal_

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

Definition at line 166 of file pcd_grabber.h.

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


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_p_c_d_grabber.html