Base class for PCD file grabber. More...

#include <pcl/io/pcd_grabber.h>

Inheritance diagram for pcl::PCDGrabberBase:

Collaboration diagram for pcl::PCDGrabberBase:

Public Member Functions
	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...

Additional Inherited Members
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 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 PCD file grabber.

Definition at line 63 of file pcd_grabber.h.

Constructor & Destructor Documentation

◆ PCDGrabberBase() [1/2]

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.

Parameters

[in]	pcd_file	path to the PCD file
[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.

◆ PCDGrabberBase() [2/2]

pcl::PCDGrabberBase::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.

Parameters

[in]	pcd_files	vector of paths to PCD 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.

◆ ~PCDGrabberBase()

pcl::PCDGrabberBase::~PCDGrabberBase ( )

overridenoexcept

Virtual destructor.

Member Function Documentation

◆ getCloudAt()

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

Get cloud (in ROS form) at a particular location.

◆ getFramesPerSecond()

float pcl::PCDGrabberBase::getFramesPerSecond ( ) const

overridevirtual

Returns the frames_per_second.

0 if grabber is trigger-based

Implements pcl::Grabber.

◆ getName()

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

overridevirtual

Returns: The name of the grabber

Implements pcl::Grabber.

◆ isRepeatOn()

bool pcl::PCDGrabberBase::isRepeatOn ( ) const

Returns whether the repeat flag is on.

◆ isRunning()

bool pcl::PCDGrabberBase::isRunning ( ) const

overridevirtual

Indicates whether the grabber is streaming or not.

Returns: true if grabber is started and hasn't run out of PCD files.

Implements pcl::Grabber.

◆ numFrames()

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

Returns the size.

◆ rewind()

virtual void pcl::PCDGrabberBase::rewind ( )

virtual

Rewinds to the first PCD file in the list.

◆ start()

void pcl::PCDGrabberBase::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::PCDGrabberBase::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::PCDGrabberBase::trigger ( )

virtual

Triggers a callback with new data.

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

pcl/io/pcd_grabber.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PCDGrabberBase() [1/2]

◆ PCDGrabberBase() [2/2]

◆ ~PCDGrabberBase()

Member Function Documentation

◆ getCloudAt()

◆ getFramesPerSecond()

◆ getName()

◆ isRepeatOn()

◆ isRunning()

◆ numFrames()

◆ rewind()

◆ start()

◆ stop()

◆ trigger()