Point Cloud Library (PCL)  1.11.1-dev
stereo_grabber.h
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37 
38 #pragma once
39 
40 #include <pcl/common/time_trigger.h>
41 #include <pcl/io/grabber.h>
42 #include <pcl/stereo/stereo_matching.h>
43 #include <pcl/conversions.h>
44 #include <pcl/point_cloud.h>
45 
46 namespace pcl {
47 
48 /** \brief Base class for Stereo file grabber.
49  * \ingroup io
50  */
52 public:
53  /** \brief Constructor taking just one Stereo pair.
54  * \param[in] pair_files the name of the the stereo (left + right) images.
55  * \param[in] frames_per_second frames per second. If 0, start() functions like a
56  * trigger, publishing the next pair in the list.
57  * \param[in] repeat whether to play files in an endless loop or not.
58  */
59  StereoGrabberBase(const std::pair<std::string, std::string>& pair_files,
60  float frames_per_second,
61  bool repeat);
62 
63  /** \brief Constructor taking a list of paths to Stereo pair files, that are played in
64  * the order they appear in the list.
65  *
66  * \param[in] files vector of paths to stereo (left+right) images.
67  * \param[in] frames_per_second frames per second. If 0, start() functions like a
68  * trigger, publishing the next pair in the list.
69  * \param[in] repeat whether to play files in an endless loop or not.
70  */
71  StereoGrabberBase(const std::vector<std::pair<std::string, std::string>>& files,
72  float frames_per_second,
73  bool repeat);
74 
75  /** \brief Virtual destructor. */
76  ~StereoGrabberBase() noexcept;
77 
78  /** \brief Starts playing the list of Stereo images if frames_per_second is > 0.
79  * Otherwise it works as a trigger: publishes only the next pair in the list. */
80  void
81  start() override;
82 
83  /** \brief Stops playing the list of Stereo images if frames_per_second is > 0.
84  * Otherwise the method has no effect. */
85  void
86  stop() override;
87 
88  /** \brief Triggers a callback with new data */
89  virtual void
90  trigger();
91 
92  /** \brief whether the grabber is started (publishing) or not.
93  * \return true only if publishing.
94  */
95  bool
96  isRunning() const override;
97 
98  /** \return The name of the grabber */
99  std::string
100  getName() const override;
101 
102  /** \brief Rewinds to the first pair of files in the list.*/
103  virtual void
104  rewind();
105 
106  /** \brief Returns the frames_per_second. 0 if grabber is trigger-based */
107  float
108  getFramesPerSecond() const override;
109 
110  /** \brief Returns whether the repeat flag is on */
111  bool
112  isRepeatOn() const;
113 
114 private:
115  virtual void
116  publish(const pcl::PCLPointCloud2& blob,
117  const Eigen::Vector4f& origin,
118  const Eigen::Quaternionf& orientation) const = 0;
119 
120  // to separate and hide the implementation from interface: PIMPL
121  struct StereoGrabberImpl;
122  StereoGrabberImpl* impl_;
123 };
124 
125 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
126 template <typename PointT>
128 public:
129  StereoGrabber(const std::pair<std::string, std::string>& pair_files,
130  float frames_per_second = 0,
131  bool repeat = false);
132  StereoGrabber(const std::vector<std::pair<std::string, std::string>>& files,
133  float frames_per_second = 0,
134  bool repeat = false);
135 
136 protected:
137  void
138  publish(const pcl::PCLPointCloud2& blob,
139  const Eigen::Vector4f& origin,
140  const Eigen::Quaternionf& orientation) const override;
141 
142  boost::signals2::signal<void(const typename pcl::PointCloud<PointT>::ConstPtr&)>*
144 };
145 
146 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
147 template <typename PointT>
149  const std::pair<std::string, std::string>& pair_files,
150  float frames_per_second,
151  bool repeat)
152 : StereoGrabberBase(pair_files, frames_per_second, repeat)
153 {
154  signal_ = createSignal<void(const typename pcl::PointCloud<PointT>::ConstPtr&)>();
155 }
156 
157 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
158 template <typename PointT>
160  const std::vector<std::pair<std::string, std::string>>& files,
161  float frames_per_second,
162  bool repeat)
163 : StereoGrabberBase(files, frames_per_second, repeat), signal_()
164 {
165  signal_ = createSignal<void(const typename pcl::PointCloud<PointT>::ConstPTr&)>();
166 }
167 
168 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
169 template <typename PointT>
170 void
172  const Eigen::Vector4f& origin,
173  const Eigen::Quaternionf& orientation) const
174 {
176  pcl::fromPCLPointCloud2(blob, *cloud);
177  cloud->sensor_origin_ = origin;
178  cloud->sensor_orientation_ = orientation;
179 
180  signal_->operator()(cloud);
181 }
182 
183 } // namespace pcl
pcl
Definition: convolution.h:46
pcl::StereoGrabber::publish
void publish(const pcl::PCLPointCloud2 &blob, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation) const override
Definition: stereo_grabber.h:171
pcl::StereoGrabber
Definition: stereo_grabber.h:127
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::Grabber
Grabber interface for PCL 1.x device drivers.
Definition: grabber.h:59
pcl::StereoGrabber::StereoGrabber
StereoGrabber(const std::pair< std::string, std::string > &pair_files, float frames_per_second=0, bool repeat=false)
Definition: stereo_grabber.h:148
pcl::Grabber::createSignal
boost::signals2::signal< T > * createSignal()
Definition: grabber.h:268
pcl::PointCloud::sensor_origin_
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
Definition: point_cloud.h:421
pcl::PointCloud::sensor_orientation_
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
Definition: point_cloud.h:423
pcl::StereoGrabber::signal_
boost::signals2::signal< void(const typename pcl::PointCloud< PointT >::ConstPtr &)> * signal_
Definition: stereo_grabber.h:143
pcl::PCLPointCloud2
Definition: PCLPointCloud2.h:16
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::StereoGrabberBase
Base class for Stereo file grabber.
Definition: stereo_grabber.h:51
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:337
pcl::fromPCLPointCloud2
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
Definition: conversions.h:167