Base class for Image file grabber. More...

#include <pcl/io/image_grabber.h>

Inheritance diagram for pcl::ImageGrabberBase:

Collaboration diagram for pcl::ImageGrabberBase:

Public Member Functions
	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 () noexcept override
	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
	whether the grabber is started (publishing) 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	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 (std::size_t idx) const
	Get the depth filename at a particular index. More...

bool	getTimestampAtIndex (std::size_t idx, std::uint64_t &timestamp) 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...

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...

Protected Member Functions
std::size_t	numFrames () const
	Convenience function to see how many frames this consists of. More...

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. More...

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 ()

Additional Inherited Members
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

Base class for Image file grabber.

Definition at line 59 of file image_grabber.h.

Constructor & Destructor Documentation

◆ ImageGrabberBase() [1/3]

pcl::ImageGrabberBase::ImageGrabberBase	(	const std::string &	directory,
		float	frames_per_second,
		bool	repeat,
		bool	pclzf_mode
	)

Constructor taking a folder of depth+[rgb] images.

Parameters

[in]	directory	Directory which contains an ordered set of images corresponding to an [RGB]D video, stored as TIFF, PNG, JPG, or PPM files. The naming convention is: frame_[timestamp]_["depth"/"rgb"].[extension]
[in]	frames_per_second	frames per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
[in]	repeat	whether to play PCD file in an endless loop or not.
	pclzf_mode

◆ ImageGrabberBase() [2/3]

pcl::ImageGrabberBase::ImageGrabberBase	(	const std::string &	depth_directory,
		const std::string &	rgb_directory,
		float	frames_per_second,
		bool	repeat
	)

◆ ImageGrabberBase() [3/3]

pcl::ImageGrabberBase::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.

Parameters

[in]	depth_image_files	Path to the depth image files files.
[in]	frames_per_second	frames per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
[in]	repeat	whether to play PCD file in an endless loop or not.

◆ ~ImageGrabberBase()

pcl::ImageGrabberBase::~ImageGrabberBase ( )

overridenoexcept

Virtual destructor.

Member Function Documentation

◆ atLastFrame()

bool pcl::ImageGrabberBase::atLastFrame ( ) const

Returns if the last frame is reached.

◆ getCameraIntrinsics()

virtual void pcl::ImageGrabberBase::getCameraIntrinsics	(	double &	focal_length_x,
		double &	focal_length_y,
		double &	principal_point_x,
		double &	principal_point_y
	)		const

virtual

Get the current focal length and center pixel.

If the intrinsics have been manually set with setCameraIntrinsics, this will return those values. Else, if start () has been called and the grabber has found a frame_[timestamp].xml file, this will return the most recent values read. Else, returns factory defaults.

Parameters

[out]	focal_length_x	Horizontal focal length (fx)
[out]	focal_length_y	Vertical focal length (fy)
[out]	principal_point_x	Horizontal coordinates of the principal point (cx)
[out]	principal_point_y	Vertical coordinates of the principal point (cy)

◆ getCloudAt()

bool pcl::ImageGrabberBase::getCloudAt	(	std::size_t	idx,
		pcl::PCLPointCloud2 &	blob,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation
	)		const

protected

Gets the cloud in ROS form at location idx.

◆ getCurrentDepthFileName()

std::string pcl::ImageGrabberBase::getCurrentDepthFileName ( ) const

Returns the filename of the current indexed file.

◆ getDepthFileNameAtIndex()

std::string pcl::ImageGrabberBase::getDepthFileNameAtIndex ( std::size_t idx ) const

Get the depth filename at a particular index.

◆ getFramesPerSecond()

float pcl::ImageGrabberBase::getFramesPerSecond ( ) const

overridevirtual

Returns the frames_per_second.

0 if grabber is trigger-based

Implements pcl::Grabber.

◆ getName()

std::string pcl::ImageGrabberBase::getName ( ) const

overridevirtual

Returns: The name of the grabber

Implements pcl::Grabber.

◆ getPrevDepthFileName()

std::string pcl::ImageGrabberBase::getPrevDepthFileName ( ) const

Returns the filename of the previous indexed file SDM: adding this back in, but is this useful, or confusing?

◆ getTimestampAtIndex()

bool pcl::ImageGrabberBase::getTimestampAtIndex	(	std::size_t	idx,
		std::uint64_t &	timestamp
	)		const

Query only the timestamp of an index, if it exists.

◆ isRepeatOn()

bool pcl::ImageGrabberBase::isRepeatOn ( ) const

Returns whether the repeat flag is on.

◆ isRunning()

bool pcl::ImageGrabberBase::isRunning ( ) const

overridevirtual

whether the grabber is started (publishing) or not.

Returns: true only if publishing.

Implements pcl::Grabber.

◆ numFrames()

std::size_t pcl::ImageGrabberBase::numFrames ( ) const

protected

Convenience function to see how many frames this consists of.

◆ rewind()

virtual void pcl::ImageGrabberBase::rewind ( )

virtual

Rewinds to the first PCD file in the list.

◆ setCameraIntrinsics()

virtual void pcl::ImageGrabberBase::setCameraIntrinsics	(	const double	focal_length_x,
		const double	focal_length_y,
		const double	principal_point_x,
		const double	principal_point_y
	)

virtual

Define custom focal length and center pixel.

This will override ANY other setting of parameters for the duration of the grabber's life, whether by factory defaults or explicitly read from a frame_[timestamp].xml file.

Parameters

[in]	focal_length_x	Horizontal focal length (fx)
[in]	focal_length_y	Vertical focal length (fy)
[in]	principal_point_x	Horizontal coordinates of the principal point (cx)
[in]	principal_point_y	Vertical coordinates of the principal point (cy)

◆ setDepthImageUnits()

void pcl::ImageGrabberBase::setDepthImageUnits ( float units )

Define the units the depth data is stored in.

Defaults to mm (0.001), meaning a brightness of 1000 corresponds to 1 m

◆ setNumberOfThreads()

void pcl::ImageGrabberBase::setNumberOfThreads ( unsigned int nr_threads = 0 )

Set the number of threads, if we wish to use OpenMP for quicker cloud population.

Note that for a standard (< 4 core) machine this is unlikely to yield a drastic speedup.

◆ setRGBImageFiles()

void pcl::ImageGrabberBase::setRGBImageFiles ( const std::vector< std::string > & rgb_image_files )

Manually set RGB image files.

Parameters

[in] rgb_image_files A vector of [tiff/png/jpg/ppm] files to use as input. There must be a 1-to-1 correspondence between these and the depth images you set

◆ start()

void pcl::ImageGrabberBase::start ( )

overridevirtual

Starts playing the list of PCD files if frames_per_second is > 0.

Otherwise it works as a trigger: publishes only the next PCD file in the list.

Implements pcl::Grabber.

◆ stop()

void pcl::ImageGrabberBase::stop ( )

overridevirtual

Stops playing the list of PCD files if frames_per_second is > 0.

Otherwise the method has no effect.

Implements pcl::Grabber.

◆ trigger()

virtual void pcl::ImageGrabberBase::trigger ( )

virtual

Triggers a callback with new data.

The documentation for this class was generated from the following file:

pcl/io/image_grabber.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ImageGrabberBase() [1/3]

◆ ImageGrabberBase() [2/3]

◆ ImageGrabberBase() [3/3]

◆ ~ImageGrabberBase()

Member Function Documentation

◆ atLastFrame()

◆ getCameraIntrinsics()

◆ getCloudAt()

◆ getCurrentDepthFileName()

◆ getDepthFileNameAtIndex()

◆ getFramesPerSecond()

◆ getName()

◆ getPrevDepthFileName()

◆ getTimestampAtIndex()

◆ isRepeatOn()

◆ isRunning()

◆ numFrames()

◆ rewind()

◆ setCameraIntrinsics()

◆ setDepthImageUnits()

◆ setNumberOfThreads()

◆ setRGBImageFiles()

◆ start()

◆ stop()

◆ trigger()