#include <pcl/io/image_grabber.h>

Inheritance diagram for pcl::ImageGrabber< PointT >:

Collaboration diagram for pcl::ImageGrabber< PointT >:

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

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.
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.
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 )

Definition at line 240 of file image_grabber.h.

References pcl::Grabber::createSignal(), ImageGrabber(), pcl::ImageGrabberBase::ImageGrabberBase(), and signal_.

Referenced by ImageGrabber(), and ImageGrabber().

◆ 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 )

Definition at line 251 of file image_grabber.h.

References pcl::Grabber::createSignal(), ImageGrabber(), pcl::ImageGrabberBase::ImageGrabberBase(), and signal_.

◆ 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 )

Definition at line 262 of file image_grabber.h.

References pcl::Grabber::createSignal(), pcl::ImageGrabberBase::ImageGrabberBase(), and signal_.

◆ ~ImageGrabber()

template<typename PointT>

pcl::ImageGrabber< PointT >::~ImageGrabber ( )

overridedefaultnoexcept

Empty destructor.

References publish(), and size().

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::ImageGrabberBase::getCloudAt(), 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