Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Types | Public Member Functions
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...
 
Grabberoperator= (const Grabber &)=delete
 No copy assign operator since Grabber can't be copied. More...
 
 Grabber (Grabber &&)=default
 Move ctor. More...
 
Grabberoperator= (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

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.


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