Point Cloud Library (PCL)
1.7.2
|
#include <pcl/io/image_grabber.h>
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) | |
virtual | ~ImageGrabber () throw () |
Empty destructor. More... | |
const boost::shared_ptr< const pcl::PointCloud< PointT > > | operator[] (size_t idx) const |
operator[] Returns the idx-th cloud in the dataset, without bounds checking. More... | |
size_t | size () const |
size Returns the number of clouds currently loaded by the grabber More... | |
![]() | |
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 (const ImageGrabberBase &src) | |
Copy constructor. More... | |
ImageGrabberBase & | operator= (const ImageGrabberBase &src) |
Copy operator. More... | |
virtual | ~ImageGrabberBase () throw () |
Virtual destructor. More... | |
virtual void | start () |
Starts playing the list of PCD files if frames_per_second is > 0. More... | |
virtual void | stop () |
Stops playing the list of PCD files if frames_per_second is > 0. More... | |
virtual void | trigger () |
Triggers a callback with new data. More... | |
virtual bool | isRunning () const |
whether the grabber is started (publishing) or not. More... | |
virtual std::string | getName () const |
virtual void | rewind () |
Rewinds to the first PCD file in the list. More... | |
virtual float | getFramesPerSecond () const |
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 (size_t idx) const |
Get the depth filename at a particular index. More... | |
bool | getTimestampAtIndex (size_t idx, pcl::uint64_t ×tamp) 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... | |
![]() | |
Grabber () | |
Constructor. More... | |
virtual | ~Grabber () throw () |
virtual desctructor. More... | |
template<typename T > | |
boost::signals2::connection | registerCallback (const boost::function< T > &callback) |
registers a callback function/method to a signal with the corresponding signature More... | |
template<typename T > | |
bool | providesCallback () const |
indicates whether a signal with given parameter-type exists or not More... | |
![]() | |
virtual | ~FileGrabber () |
Empty destructor. More... | |
virtual const boost::shared_ptr< const pcl::PointCloud< PointT > > | at (size_t idx) const |
at Returns the idx-th cloud in the dataset, with bounds checking More... | |
Protected Member Functions | |
virtual void | publish (const pcl::PCLPointCloud2 &blob, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation) const |
![]() | |
size_t | numFrames () const |
Convenience function to see how many frames this consists of. More... | |
bool | getCloudAt (size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const |
Gets the cloud in ROS form at location idx. More... | |
![]() | |
virtual void | signalsChanged () |
template<typename T > | |
boost::signals2::signal< T > * | find_signal () const |
template<typename T > | |
int | num_slots () const |
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 boost::shared_ptr< const pcl::PointCloud< PointT > > &)> * | signal_ |
![]() | |
std::map< std::string, 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_ |
Definition at line 216 of file image_grabber.h.
pcl::ImageGrabber< PointT >::ImageGrabber | ( | const std::string & | dir, |
float | frames_per_second = 0 , |
||
bool | repeat = false , |
||
bool | pclzf_mode = false |
||
) |
Definition at line 254 of file image_grabber.h.
References pcl::ImageGrabber< PointT >::signal_.
pcl::ImageGrabber< PointT >::ImageGrabber | ( | const std::string & | depth_dir, |
const std::string & | rgb_dir, | ||
float | frames_per_second = 0 , |
||
bool | repeat = false |
||
) |
Definition at line 265 of file image_grabber.h.
References pcl::ImageGrabber< PointT >::signal_.
pcl::ImageGrabber< PointT >::ImageGrabber | ( | const std::vector< std::string > & | depth_image_files, |
float | frames_per_second = 0 , |
||
bool | repeat = false |
||
) |
Definition at line 276 of file image_grabber.h.
References pcl::ImageGrabber< PointT >::signal_.
|
inlinevirtual |
Empty destructor.
Definition at line 234 of file image_grabber.h.
|
virtual |
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
[in] | idx | The frame to load |
Implements pcl::FileGrabber< PointT >.
Definition at line 286 of file image_grabber.h.
References pcl::fromPCLPointCloud2(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
|
protectedvirtual |
Implements pcl::ImageGrabberBase.
Definition at line 308 of file image_grabber.h.
References pcl::fromPCLPointCloud2(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
|
virtual |
size Returns the number of clouds currently loaded by the grabber
Implements pcl::FileGrabber< PointT >.
Definition at line 301 of file image_grabber.h.
|
protected |
Definition at line 249 of file image_grabber.h.
Referenced by pcl::ImageGrabber< PointT >::ImageGrabber().