A simple ONI grabber. More...

#include <pcl/io/oni_grabber.h>

Inheritance diagram for pcl::ONIGrabber:

Collaboration diagram for pcl::ONIGrabber:

Public Types
using	sig_cb_openni_image = void(const openni_wrapper::Image::Ptr &)

using	sig_cb_openni_depth_image = void(const openni_wrapper::DepthImage::Ptr &)

using	sig_cb_openni_ir_image = void(const openni_wrapper::IRImage::Ptr &)

using	sig_cb_openni_image_depth_image = void(const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float)

using	sig_cb_openni_ir_depth_image = void(const openni_wrapper::IRImage::Ptr &, const openni_wrapper::DepthImage::Ptr &, float)

using	sig_cb_openni_point_cloud = void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &)

using	sig_cb_openni_point_cloud_rgb = void(const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &)

using	sig_cb_openni_point_cloud_rgba = void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &)

using	sig_cb_openni_point_cloud_i = void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &)

Public Member Functions
	ONIGrabber (const std::string &file_name, bool repeat, bool stream)
	constructor More...

	~ONIGrabber () noexcept override
	destructor never throws an exception More...

void	start () override
	For devices that are streaming, the streams are started by calling this method. More...

void	stop () override
	For devices that are streaming, the streams are stopped. More...

std::string	getName () const override
	returns the name of the concrete subclass. More...

bool	isRunning () const override
	Indicates whether the grabber is streaming or not. More...

float	getFramesPerSecond () const override
	returns the frames pre second. More...

bool	hasDataLeft ()
	Check if there is any data left in the ONI file to process. 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
void	imageCallback (openni_wrapper::Image::Ptr image, void *cookie)
	internal OpenNI (openni_wrapper) callback that handles image streams More...

void	depthCallback (openni_wrapper::DepthImage::Ptr depth_image, void *cookie)
	internal OpenNI (openni_wrapper) callback that handles depth streams More...

void	irCallback (openni_wrapper::IRImage::Ptr ir_image, void *cookie)
	internal OpenNI (openni_wrapper) callback that handles IR streams More...

void	imageDepthImageCallback (const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image)
	internal callback that handles synchronized image + depth streams More...

void	irDepthImageCallback (const openni_wrapper::IRImage::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image)
	internal callback that handles synchronized IR + depth streams More...

pcl::PointCloud< pcl::PointXYZ >::Ptr	convertToXYZPointCloud (const openni_wrapper::DepthImage::Ptr &depth) const
	internal method to assemble a point cloud object More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	convertToXYZRGBPointCloud (const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const
	internal method to assemble a point cloud object More...

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	convertToXYZRGBAPointCloud (const openni_wrapper::Image::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const
	internal method to assemble a point cloud object More...

pcl::PointCloud< pcl::PointXYZI >::Ptr	convertToXYZIPointCloud (const openni_wrapper::IRImage::Ptr &image, const openni_wrapper::DepthImage::Ptr &depth_image) const
	internal method to assemble a point cloud object 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 ()

Protected Attributes
Synchronizer< openni_wrapper::Image::Ptr, openni_wrapper::DepthImage::Ptr >	rgb_sync_
	synchronizer object to synchronize image and depth streams More...

Synchronizer< openni_wrapper::IRImage::Ptr, openni_wrapper::DepthImage::Ptr >	ir_sync_
	synchronizer object to synchronize IR and depth streams More...

openni_wrapper::DeviceONI::Ptr	device_
	the actual openni device More...

std::string	rgb_frame_id_

std::string	depth_frame_id_

bool	running_ {false}

unsigned	image_width_ {0}

unsigned	image_height_ {0}

unsigned	depth_width_ {0}

unsigned	depth_height_ {0}

openni_wrapper::OpenNIDevice::CallbackHandle	depth_callback_handle {}

openni_wrapper::OpenNIDevice::CallbackHandle	image_callback_handle {}

openni_wrapper::OpenNIDevice::CallbackHandle	ir_callback_handle {}

boost::signals2::signal< sig_cb_openni_image > *	image_signal_ {}

boost::signals2::signal< sig_cb_openni_depth_image > *	depth_image_signal_ {}

boost::signals2::signal< sig_cb_openni_ir_image > *	ir_image_signal_ {}

boost::signals2::signal< sig_cb_openni_image_depth_image > *	image_depth_image_signal_ {}

boost::signals2::signal< sig_cb_openni_ir_depth_image > *	ir_depth_image_signal_ {}

boost::signals2::signal< sig_cb_openni_point_cloud > *	point_cloud_signal_ {}

boost::signals2::signal< sig_cb_openni_point_cloud_i > *	point_cloud_i_signal_ {}

boost::signals2::signal< sig_cb_openni_point_cloud_rgb > *	point_cloud_rgb_signal_ {}

boost::signals2::signal< sig_cb_openni_point_cloud_rgba > *	point_cloud_rgba_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

A simple ONI grabber.

Author: Suat Gedikli

Definition at line 67 of file oni_grabber.h.

Member Typedef Documentation

◆ sig_cb_openni_depth_image

using pcl::ONIGrabber::sig_cb_openni_depth_image = void (const openni_wrapper::DepthImage::Ptr &)

Definition at line 72 of file oni_grabber.h.

◆ sig_cb_openni_image

using pcl::ONIGrabber::sig_cb_openni_image = void (const openni_wrapper::Image::Ptr &)

Definition at line 71 of file oni_grabber.h.

◆ sig_cb_openni_image_depth_image

using pcl::ONIGrabber::sig_cb_openni_image_depth_image = void (const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float)

Definition at line 74 of file oni_grabber.h.

◆ sig_cb_openni_ir_depth_image

using pcl::ONIGrabber::sig_cb_openni_ir_depth_image = void (const openni_wrapper::IRImage::Ptr &, const openni_wrapper::DepthImage::Ptr &, float)

Definition at line 75 of file oni_grabber.h.

◆ sig_cb_openni_ir_image

using pcl::ONIGrabber::sig_cb_openni_ir_image = void (const openni_wrapper::IRImage::Ptr &)

Definition at line 73 of file oni_grabber.h.

◆ sig_cb_openni_point_cloud

using pcl::ONIGrabber::sig_cb_openni_point_cloud = void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &)

Definition at line 76 of file oni_grabber.h.

◆ sig_cb_openni_point_cloud_i

using pcl::ONIGrabber::sig_cb_openni_point_cloud_i = void (const pcl::PointCloud<pcl::PointXYZI>::ConstPtr &)

Definition at line 79 of file oni_grabber.h.

◆ sig_cb_openni_point_cloud_rgb

using pcl::ONIGrabber::sig_cb_openni_point_cloud_rgb = void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &)

Definition at line 77 of file oni_grabber.h.

◆ sig_cb_openni_point_cloud_rgba

using pcl::ONIGrabber::sig_cb_openni_point_cloud_rgba = void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &)

Definition at line 78 of file oni_grabber.h.

Constructor & Destructor Documentation

◆ ONIGrabber()

pcl::ONIGrabber::ONIGrabber	(	const std::string &	file_name,
		bool	repeat,
		bool	stream
	)

constructor

Parameters

[in]	file_name	the path to the ONI file
[in]	repeat	whether the play back should be in an infinite loop or not
[in]	stream	whether the playback should be in streaming mode or in triggered mode.

◆ ~ONIGrabber()

pcl::ONIGrabber::~ONIGrabber ( )

overridenoexcept

destructor never throws an exception

Member Function Documentation

◆ convertToXYZIPointCloud()

pcl::PointCloud<pcl::PointXYZI>::Ptr pcl::ONIGrabber::convertToXYZIPointCloud	(	const openni_wrapper::IRImage::Ptr &	image,
		const openni_wrapper::DepthImage::Ptr &	depth_image
	)		const

protected

internal method to assemble a point cloud object

◆ convertToXYZPointCloud()

pcl::PointCloud<pcl::PointXYZ>::Ptr pcl::ONIGrabber::convertToXYZPointCloud ( const openni_wrapper::DepthImage::Ptr & depth ) const

protected

internal method to assemble a point cloud object

◆ convertToXYZRGBAPointCloud()

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr pcl::ONIGrabber::convertToXYZRGBAPointCloud	(	const openni_wrapper::Image::Ptr &	image,
		const openni_wrapper::DepthImage::Ptr &	depth_image
	)		const

protected

internal method to assemble a point cloud object

◆ convertToXYZRGBPointCloud()

pcl::PointCloud<pcl::PointXYZRGB>::Ptr pcl::ONIGrabber::convertToXYZRGBPointCloud	(	const openni_wrapper::Image::Ptr &	image,
		const openni_wrapper::DepthImage::Ptr &	depth_image
	)		const

protected

internal method to assemble a point cloud object

◆ depthCallback()

void pcl::ONIGrabber::depthCallback	(	openni_wrapper::DepthImage::Ptr	depth_image,
		void *	cookie
	)

protected

internal OpenNI (openni_wrapper) callback that handles depth streams

◆ getFramesPerSecond()

float pcl::ONIGrabber::getFramesPerSecond ( ) const

overridevirtual

returns the frames pre second.

0 if it is trigger based.

Implements pcl::Grabber.

◆ getName()

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

overridevirtual

returns the name of the concrete subclass.

Returns: the name of the concrete driver.

Implements pcl::Grabber.

◆ hasDataLeft()

bool pcl::ONIGrabber::hasDataLeft ( )

inline

Check if there is any data left in the ONI file to process.

Definition at line 121 of file oni_grabber.h.

◆ imageCallback()

void pcl::ONIGrabber::imageCallback	(	openni_wrapper::Image::Ptr	image,
		void *	cookie
	)

protected

internal OpenNI (openni_wrapper) callback that handles image streams

◆ imageDepthImageCallback()

void pcl::ONIGrabber::imageDepthImageCallback	(	const openni_wrapper::Image::Ptr &	image,
		const openni_wrapper::DepthImage::Ptr &	depth_image
	)

protected

internal callback that handles synchronized image + depth streams

◆ irCallback()

void pcl::ONIGrabber::irCallback	(	openni_wrapper::IRImage::Ptr	ir_image,
		void *	cookie
	)

protected

internal OpenNI (openni_wrapper) callback that handles IR streams

◆ irDepthImageCallback()

void pcl::ONIGrabber::irDepthImageCallback	(	const openni_wrapper::IRImage::Ptr &	image,
		const openni_wrapper::DepthImage::Ptr &	depth_image
	)

protected

internal callback that handles synchronized IR + depth streams

◆ isRunning()

bool pcl::ONIGrabber::isRunning ( ) const

overridevirtual

Indicates whether the grabber is streaming or not.

This value is not defined for triggered devices.

Returns: true if grabber is running / streaming. False otherwise.

Implements pcl::Grabber.

◆ start()

void pcl::ONIGrabber::start ( )

overridevirtual

For devices that are streaming, the streams are started by calling this method.

Trigger-based devices, just trigger the device once for each call of start.

Implements pcl::Grabber.

◆ stop()

void pcl::ONIGrabber::stop ( )

overridevirtual

For devices that are streaming, the streams are stopped.

This method has no effect for triggered devices.

Implements pcl::Grabber.

Member Data Documentation

◆ depth_callback_handle

openni_wrapper::OpenNIDevice::CallbackHandle pcl::ONIGrabber::depth_callback_handle {}

protected

Definition at line 183 of file oni_grabber.h.

◆ depth_frame_id_

std::string pcl::ONIGrabber::depth_frame_id_

protected

Definition at line 177 of file oni_grabber.h.

◆ depth_height_

unsigned pcl::ONIGrabber::depth_height_ {0}

protected

Definition at line 182 of file oni_grabber.h.

◆ depth_image_signal_

boost::signals2::signal<sig_cb_openni_depth_image >* pcl::ONIGrabber::depth_image_signal_ {}

protected

Definition at line 187 of file oni_grabber.h.

◆ depth_width_

unsigned pcl::ONIGrabber::depth_width_ {0}

protected

Definition at line 181 of file oni_grabber.h.

◆ device_

openni_wrapper::DeviceONI::Ptr pcl::ONIGrabber::device_

protected

the actual openni device

Definition at line 175 of file oni_grabber.h.

◆ image_callback_handle

openni_wrapper::OpenNIDevice::CallbackHandle pcl::ONIGrabber::image_callback_handle {}

protected

Definition at line 184 of file oni_grabber.h.

◆ image_depth_image_signal_

boost::signals2::signal<sig_cb_openni_image_depth_image>* pcl::ONIGrabber::image_depth_image_signal_ {}

protected

Definition at line 189 of file oni_grabber.h.

◆ image_height_

unsigned pcl::ONIGrabber::image_height_ {0}

protected

Definition at line 180 of file oni_grabber.h.

◆ image_signal_

boost::signals2::signal<sig_cb_openni_image >* pcl::ONIGrabber::image_signal_ {}

protected

Definition at line 186 of file oni_grabber.h.

◆ image_width_

unsigned pcl::ONIGrabber::image_width_ {0}

protected

Definition at line 179 of file oni_grabber.h.

◆ ir_callback_handle

openni_wrapper::OpenNIDevice::CallbackHandle pcl::ONIGrabber::ir_callback_handle {}

protected

Definition at line 185 of file oni_grabber.h.

◆ ir_depth_image_signal_

boost::signals2::signal<sig_cb_openni_ir_depth_image>* pcl::ONIGrabber::ir_depth_image_signal_ {}

protected

Definition at line 190 of file oni_grabber.h.

◆ ir_image_signal_

boost::signals2::signal<sig_cb_openni_ir_image >* pcl::ONIGrabber::ir_image_signal_ {}

protected

Definition at line 188 of file oni_grabber.h.

◆ ir_sync_

Synchronizer<openni_wrapper::IRImage::Ptr, openni_wrapper::DepthImage::Ptr > pcl::ONIGrabber::ir_sync_

protected

synchronizer object to synchronize IR and depth streams

Definition at line 172 of file oni_grabber.h.

◆ point_cloud_i_signal_

boost::signals2::signal<sig_cb_openni_point_cloud_i >* pcl::ONIGrabber::point_cloud_i_signal_ {}

protected

Definition at line 192 of file oni_grabber.h.

◆ point_cloud_rgb_signal_

boost::signals2::signal<sig_cb_openni_point_cloud_rgb >* pcl::ONIGrabber::point_cloud_rgb_signal_ {}

protected

Definition at line 193 of file oni_grabber.h.

◆ point_cloud_rgba_signal_

boost::signals2::signal<sig_cb_openni_point_cloud_rgba >* pcl::ONIGrabber::point_cloud_rgba_signal_ {}

protected

Definition at line 194 of file oni_grabber.h.

◆ point_cloud_signal_

boost::signals2::signal<sig_cb_openni_point_cloud >* pcl::ONIGrabber::point_cloud_signal_ {}

protected

Definition at line 191 of file oni_grabber.h.

◆ rgb_frame_id_

std::string pcl::ONIGrabber::rgb_frame_id_

protected

Definition at line 176 of file oni_grabber.h.

◆ rgb_sync_

Synchronizer<openni_wrapper::Image::Ptr, openni_wrapper::DepthImage::Ptr > pcl::ONIGrabber::rgb_sync_

protected

synchronizer object to synchronize image and depth streams

Definition at line 169 of file oni_grabber.h.

◆ running_

bool pcl::ONIGrabber::running_ {false}

protected

Definition at line 178 of file oni_grabber.h.

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

pcl/io/oni_grabber.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ sig_cb_openni_depth_image

◆ sig_cb_openni_image

◆ sig_cb_openni_image_depth_image

◆ sig_cb_openni_ir_depth_image

◆ sig_cb_openni_ir_image

◆ sig_cb_openni_point_cloud

◆ sig_cb_openni_point_cloud_i

◆ sig_cb_openni_point_cloud_rgb

◆ sig_cb_openni_point_cloud_rgba

Constructor & Destructor Documentation

◆ ONIGrabber()

◆ ~ONIGrabber()

Member Function Documentation

◆ convertToXYZIPointCloud()

◆ convertToXYZPointCloud()

◆ convertToXYZRGBAPointCloud()

◆ convertToXYZRGBPointCloud()

◆ depthCallback()

◆ getFramesPerSecond()

◆ getName()

◆ hasDataLeft()

◆ imageCallback()

◆ imageDepthImageCallback()

◆ irCallback()

◆ irDepthImageCallback()

◆ isRunning()

◆ start()

◆ stop()

Member Data Documentation

◆ depth_callback_handle

◆ depth_frame_id_

◆ depth_height_

◆ depth_image_signal_

◆ depth_width_

◆ device_

◆ image_callback_handle

◆ image_depth_image_signal_

◆ image_height_

◆ image_signal_

◆ image_width_

◆ ir_callback_handle

◆ ir_depth_image_signal_

◆ ir_image_signal_

◆ ir_sync_

◆ point_cloud_i_signal_

◆ point_cloud_rgb_signal_

◆ point_cloud_rgba_signal_

◆ point_cloud_signal_

◆ rgb_frame_id_

◆ rgb_sync_

◆ running_