pcl::RobotEyeGrabber Class Reference

Grabber for the Ocular Robotics RobotEye sensor. More...

#include <pcl/io/robot_eye_grabber.h>

Inheritance diagram for pcl::RobotEyeGrabber:

Collaboration diagram for pcl::RobotEyeGrabber:

Public Types
using	sig_cb_robot_eye_point_cloud_xyzi = void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &)
	Signal used for the point cloud callback. More...

Public Member Functions
	RobotEyeGrabber ()
	RobotEyeGrabber default constructor. More...
	RobotEyeGrabber (const boost::asio::ip::address &ipAddress, unsigned short port=443)
	RobotEyeGrabber constructor taking a specified IP address and data port. More...
	~RobotEyeGrabber () noexcept override
	virtual Destructor inherited from the Grabber interface. More...
void	start () override
	Starts the RobotEye grabber. More...
void	stop () override
	Stops the RobotEye grabber. More...
std::string	getName () const override
	Obtains the name of this I/O Grabber. More...
bool	isRunning () const override
	Check if the grabber is still running. More...
float	getFramesPerSecond () const override
	Returns the number of frames per second. More...
void	setSensorAddress (const boost::asio::ip::address &ipAddress)
	Set/get ip address of the sensor that sends the data. More...
const boost::asio::ip::address &	getSensorAddress () const
void	setDataPort (unsigned short port)
	Set/get the port number which receives data from the sensor. More...
unsigned short	getDataPort () const
void	setSignalPointCloudSize (std::size_t numerOfPoints)
	Set/get the number of points to accumulate before the grabber callback is signaled. More...
std::size_t	getSignalPointCloudSize () const
pcl::PointCloud< pcl::PointXYZI >::Ptr	getPointCloud () const
	Returns the point cloud with point accumulated by the grabber. 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

Grabber for the Ocular Robotics RobotEye sensor.

Definition at line 59 of file robot_eye_grabber.h.

Member Typedef Documentation

sig_cb_robot_eye_point_cloud_xyzi

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

Signal used for the point cloud callback.

This signal is sent when the accumulated number of points reaches the limit specified by setSignalPointCloudSize().

Definition at line 67 of file robot_eye_grabber.h.

Constructor & Destructor Documentation

RobotEyeGrabber() [1/2]

pcl::RobotEyeGrabber::RobotEyeGrabber

(

)

RobotEyeGrabber default constructor.

RobotEyeGrabber() [2/2]

pcl::RobotEyeGrabber::RobotEyeGrabber	(	const boost::asio::ip::address &	ipAddress,
		unsigned short	port = 443
	)

RobotEyeGrabber constructor taking a specified IP address and data port.

~RobotEyeGrabber()

pcl::RobotEyeGrabber::~RobotEyeGrabber ( )

overridenoexcept

virtual Destructor inherited from the Grabber interface.

It never throws.

Member Function Documentation

getDataPort()

unsigned short pcl::RobotEyeGrabber::getDataPort

(

)

const

getFramesPerSecond()

float pcl::RobotEyeGrabber::getFramesPerSecond ( ) const

overridevirtual

Returns the number of frames per second.

Implements pcl::Grabber.

getName()

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

overridevirtual

Obtains the name of this I/O Grabber.

Returns

The name of the grabber

Implements pcl::Grabber.

getPointCloud()

pcl::PointCloud<pcl::PointXYZI>::Ptr pcl::RobotEyeGrabber::getPointCloud

(

)

const

Returns the point cloud with point accumulated by the grabber.

It is not safe to access this point cloud except if the grabber is stopped or during the grabber callback.

getSensorAddress()

const boost::asio::ip::address& pcl::RobotEyeGrabber::getSensorAddress

(

)

const

getSignalPointCloudSize()

std::size_t pcl::RobotEyeGrabber::getSignalPointCloudSize

(

)

const

isRunning()

bool pcl::RobotEyeGrabber::isRunning ( ) const

overridevirtual

Check if the grabber is still running.

Returns

TRUE if the grabber is running, FALSE otherwise

Implements pcl::Grabber.

setDataPort()

void pcl::RobotEyeGrabber::setDataPort

(

unsigned short

port

)

Set/get the port number which receives data from the sensor.

The default is 443.

setSensorAddress()

void pcl::RobotEyeGrabber::setSensorAddress

(

const boost::asio::ip::address &

ipAddress

)

Set/get ip address of the sensor that sends the data.

The default is address_v4::any ().

setSignalPointCloudSize()

void pcl::RobotEyeGrabber::setSignalPointCloudSize

(

std::size_t

numerOfPoints

)

Set/get the number of points to accumulate before the grabber callback is signaled.

The default is 1000.

start()

void pcl::RobotEyeGrabber::start ( )

overridevirtual

Starts the RobotEye grabber.

The grabber runs on a separate thread, this call will return without blocking.

Implements pcl::Grabber.

stop()

void pcl::RobotEyeGrabber::stop ( )

overridevirtual

Stops the RobotEye grabber.

Implements pcl::Grabber.

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

• pcl/io/robot_eye_grabber.h