Point Cloud Library (PCL)
1.7.2
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#include <pcl/io/pcd_grabber.h>
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) | |
virtual | ~PCDGrabber () throw () |
Virtual 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... | |
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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 (const PCDGrabberBase &src) | |
Copy constructor. More... | |
PCDGrabberBase & | operator= (const PCDGrabberBase &src) |
Copy operator. More... | |
virtual | ~PCDGrabberBase () 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 |
Indicates whether the grabber is streaming 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 | getCloudAt (size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const |
Get cloud (in ROS form) at a particular location. More... | |
size_t | numFrames () const |
Returns the size. More... | |
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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... | |
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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 |
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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_ |
boost::signals2::signal< void(const boost::shared_ptr < openni_wrapper::DepthImage > &)> * | depth_image_signal_ |
boost::signals2::signal< void(const boost::shared_ptr < openni_wrapper::Image > &)> * | image_signal_ |
boost::signals2::signal< void(const boost::shared_ptr < openni_wrapper::Image > &, const boost::shared_ptr < openni_wrapper::DepthImage > &, float constant)> * | image_depth_image_signal_ |
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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 156 of file pcd_grabber.h.
pcl::PCDGrabber< PointT >::PCDGrabber | ( | const std::string & | pcd_path, |
float | frames_per_second = 0 , |
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bool | repeat = false |
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Definition at line 188 of file pcd_grabber.h.
References pcl::PCDGrabber< PointT >::depth_image_signal_, pcl::PCDGrabber< PointT >::image_depth_image_signal_, pcl::PCDGrabber< PointT >::image_signal_, and pcl::PCDGrabber< PointT >::signal_.
pcl::PCDGrabber< PointT >::PCDGrabber | ( | const std::vector< std::string > & | pcd_files, |
float | frames_per_second = 0 , |
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bool | repeat = false |
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Definition at line 201 of file pcd_grabber.h.
References pcl::PCDGrabber< PointT >::depth_image_signal_, pcl::PCDGrabber< PointT >::image_depth_image_signal_, pcl::PCDGrabber< PointT >::image_signal_, and pcl::PCDGrabber< PointT >::signal_.
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inlinevirtual |
Virtual destructor.
Definition at line 163 of file pcd_grabber.h.
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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 214 of file pcd_grabber.h.
References pcl::fromPCLPointCloud2(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
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protectedvirtual |
Implements pcl::PCDGrabberBase.
Definition at line 236 of file pcd_grabber.h.
References pcl::fromPCLPointCloud2(), pcl::getFieldIndex(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::isOrganized(), pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, and pcl::PointCloud< PointT >::width.
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size Returns the number of clouds currently loaded by the grabber
Implements pcl::FileGrabber< PointT >.
Definition at line 229 of file pcd_grabber.h.
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Definition at line 180 of file pcd_grabber.h.
Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().
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Definition at line 182 of file pcd_grabber.h.
Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().
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Definition at line 181 of file pcd_grabber.h.
Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().
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Definition at line 177 of file pcd_grabber.h.
Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().