#include <pcl/io/pcd_grabber.h>

Inheritance diagram for pcl::PCDGrabber< PointT >:

Collaboration diagram for pcl::PCDGrabber< PointT >:

Public Types
using	Ptr = shared_ptr< PCDGrabber >

using	ConstPtr = shared_ptr< const PCDGrabber >

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)

	~PCDGrabber () noexcept override
	Virtual destructor. More...

const pcl::PointCloud< PointT >::ConstPtr	operator[] (std::size_t idx) const override
	operator[] Returns the idx-th cloud in the dataset, without bounds checking. More...

std::size_t	size () const override
	size Returns the number of clouds currently loaded by the grabber More...

Public Member Functions inherited from pcl::PCDGrabberBase
	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 () 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
	Indicates whether the grabber is streaming 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	getCloudAt (std::size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const
	Get cloud (in ROS form) at a particular location. More...

std::size_t	numFrames () const
	Returns the size. 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...

Public Member Functions inherited from pcl::FileGrabber< PointT >
virtual	~FileGrabber ()=default
	Empty destructor. More...

virtual const pcl::PointCloud< PointT >::ConstPtr	at (std::size_t idx) const
	at Returns the idx-th cloud in the dataset, with bounds checking More...

Protected Member Functions
void	publish (const pcl::PCLPointCloud2 &blob, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, const std::string &file_name) const override

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_

boost::signals2::signal< void(const std::string &)> *	file_name_signal_

boost::signals2::signal< void(const openni_wrapper::DepthImage::Ptr &)> *	depth_image_signal_

boost::signals2::signal< void(const openni_wrapper::Image::Ptr &)> *	image_signal_

boost::signals2::signal< void(const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float constant)> *	image_depth_image_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::PCDGrabber< PointT >

Definition at line 139 of file pcd_grabber.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::PCDGrabber< PointT >::ConstPtr = shared_ptr<const PCDGrabber>

Definition at line 143 of file pcd_grabber.h.

◆ Ptr

template<typename PointT >

using pcl::PCDGrabber< PointT >::Ptr = shared_ptr<PCDGrabber>

Definition at line 142 of file pcd_grabber.h.

Constructor & Destructor Documentation

◆ PCDGrabber() [1/2]

template<typename PointT >

pcl::PCDGrabber< PointT >::PCDGrabber	(	const std::string &	pcd_path,
		float	frames_per_second = `0`,
		bool	repeat = `false`
	)

Definition at line 178 of file pcd_grabber.h.

References pcl::Grabber::createSignal(), pcl::PCDGrabber< PointT >::depth_image_signal_, pcl::PCDGrabber< PointT >::file_name_signal_, pcl::PCDGrabber< PointT >::image_depth_image_signal_, pcl::PCDGrabber< PointT >::image_signal_, and pcl::PCDGrabber< PointT >::signal_.

◆ PCDGrabber() [2/2]

template<typename PointT >

pcl::PCDGrabber< PointT >::PCDGrabber	(	const std::vector< std::string > &	pcd_files,
		float	frames_per_second = `0`,
		bool	repeat = `false`
	)

Definition at line 192 of file pcd_grabber.h.

References pcl::Grabber::createSignal(), pcl::PCDGrabber< PointT >::depth_image_signal_, pcl::PCDGrabber< PointT >::file_name_signal_, pcl::PCDGrabber< PointT >::image_depth_image_signal_, pcl::PCDGrabber< PointT >::image_signal_, and pcl::PCDGrabber< PointT >::signal_.

◆ ~PCDGrabber()

template<typename PointT >

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

inlineoverridenoexcept

Virtual destructor.

Definition at line 149 of file pcd_grabber.h.

Member Function Documentation

◆ operator[]()

template<typename PointT >

const pcl::PointCloud< PointT >::ConstPtr pcl::PCDGrabber< 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 206 of file pcd_grabber.h.

References pcl::fromPCLPointCloud2(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

◆ publish()

template<typename PointT >

void pcl::PCDGrabber< PointT >::publish	(	const pcl::PCLPointCloud2 &	blob,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation,
		const std::string &	file_name
	)		const

overrideprotectedvirtual

Implements pcl::PCDGrabberBase.

Definition at line 228 of file pcd_grabber.h.

References pcl::fromPCLPointCloud2(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::isOrganized(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, and pcl::PointCloud< PointT >::width.

◆ size()

template<typename PointT >

std::size_t pcl::PCDGrabber< PointT >::size ( ) const

overridevirtual

size Returns the number of clouds currently loaded by the grabber

Implements pcl::FileGrabber< PointT >.

Definition at line 221 of file pcd_grabber.h.

Member Data Documentation

◆ depth_image_signal_

template<typename PointT >

boost::signals2::signal<void (const openni_wrapper::DepthImage::Ptr&)>* pcl::PCDGrabber< PointT >::depth_image_signal_

protected

Definition at line 170 of file pcd_grabber.h.

Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().

◆ file_name_signal_

template<typename PointT >

boost::signals2::signal<void (const std::string&)>* pcl::PCDGrabber< PointT >::file_name_signal_

protected

Definition at line 167 of file pcd_grabber.h.

Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().

◆ image_depth_image_signal_

template<typename PointT >

boost::signals2::signal<void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float constant)>* pcl::PCDGrabber< PointT >::image_depth_image_signal_

protected

Definition at line 172 of file pcd_grabber.h.

Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().

◆ image_signal_

template<typename PointT >

boost::signals2::signal<void (const openni_wrapper::Image::Ptr&)>* pcl::PCDGrabber< PointT >::image_signal_

protected

Definition at line 171 of file pcd_grabber.h.

Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().

◆ signal_

template<typename PointT >

boost::signals2::signal<void (const typename pcl::PointCloud<PointT>::ConstPtr&)>* pcl::PCDGrabber< PointT >::signal_

protected

Definition at line 166 of file pcd_grabber.h.

Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().

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

pcl/io/pcd_grabber.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::PCDGrabber< PointT >

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ PCDGrabber() [1/2]

◆ PCDGrabber() [2/2]

◆ ~PCDGrabber()

Member Function Documentation

◆ operator[]()

◆ publish()

◆ size()

Member Data Documentation

◆ depth_image_signal_

◆ file_name_signal_

◆ image_depth_image_signal_

◆ image_signal_

◆ signal_

template<typename PointT>
class pcl::PCDGrabber< PointT >