Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Member Functions | Protected Member Functions
pcl::ImageGrabberBase Class Referenceabstract

Base class for Image file grabber. More...

#include <pcl/io/image_grabber.h>

+ Inheritance diagram for pcl::ImageGrabberBase:

Public Member Functions

 ImageGrabberBase (const std::string &directory, float frames_per_second, bool repeat, bool pclzf_mode)
 Constructor taking a folder of depth+[rgb] images. More...
 
 ImageGrabberBase (const std::string &depth_directory, const std::string &rgb_directory, float frames_per_second, bool repeat)
 
 ImageGrabberBase (const std::vector< std::string > &depth_image_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...
 
 ImageGrabberBase (const ImageGrabberBase &src)
 Copy constructor. More...
 
ImageGrabberBaseoperator= (const ImageGrabberBase &src)
 Copy operator. More...
 
virtual ~ImageGrabberBase () throw ()
 Virtual destructor. More...
 
virtual void start ()
 Starts playing the list of PCD files if frames_per_second is > 0. More...
 
virtual void stop ()
 Stops playing the list of PCD files if frames_per_second is > 0. More...
 
virtual void trigger ()
 Triggers a callback with new data. More...
 
virtual bool isRunning () const
 whether the grabber is started (publishing) or not. More...
 
virtual std::string getName () const
 
virtual void rewind ()
 Rewinds to the first PCD file in the list. More...
 
virtual float getFramesPerSecond () const
 Returns the frames_per_second. More...
 
bool isRepeatOn () const
 Returns whether the repeat flag is on. More...
 
bool atLastFrame () const
 Returns if the last frame is reached. More...
 
std::string getCurrentDepthFileName () const
 Returns the filename of the current indexed file. More...
 
std::string getPrevDepthFileName () const
 Returns the filename of the previous indexed file SDM: adding this back in, but is this useful, or confusing? More...
 
std::string getDepthFileNameAtIndex (size_t idx) const
 Get the depth filename at a particular index. More...
 
bool getTimestampAtIndex (size_t idx, pcl::uint64_t &timestamp) const
 Query only the timestamp of an index, if it exists. More...
 
void setRGBImageFiles (const std::vector< std::string > &rgb_image_files)
 Manually set RGB image files. More...
 
virtual void setCameraIntrinsics (const double focal_length_x, const double focal_length_y, const double principal_point_x, const double principal_point_y)
 Define custom focal length and center pixel. More...
 
virtual void getCameraIntrinsics (double &focal_length_x, double &focal_length_y, double &principal_point_x, double &principal_point_y) const
 Get the current focal length and center pixel. More...
 
void setDepthImageUnits (float units)
 Define the units the depth data is stored in. More...
 
void setNumberOfThreads (unsigned int nr_threads=0)
 Set the number of threads, if we wish to use OpenMP for quicker cloud population. More...
 
- Public Member Functions inherited from pcl::Grabber
 Grabber ()
 Constructor. More...
 
virtual ~Grabber () throw ()
 virtual desctructor. More...
 
template<typename T >
boost::signals2::connection registerCallback (const boost::function< T > &callback)
 registers a callback function/method to a signal with the corresponding signature More...
 
template<typename T >
bool providesCallback () const
 indicates whether a signal with given parameter-type exists or not More...
 

Protected Member Functions

size_t numFrames () const
 Convenience function to see how many frames this consists of. More...
 
bool getCloudAt (size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const
 Gets the cloud in ROS form at location idx. More...
 
- Protected Member Functions inherited from pcl::Grabber
virtual void signalsChanged ()
 
template<typename T >
boost::signals2::signal< T > * find_signal () const
 
template<typename T >
int num_slots () const
 
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 ()
 

Additional Inherited Members

- Protected Attributes inherited from pcl::Grabber
std::map< std::string,
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 Image file grabber.

Definition at line 58 of file image_grabber.h.

Constructor & Destructor Documentation

pcl::ImageGrabberBase::ImageGrabberBase ( const std::string &  directory,
float  frames_per_second,
bool  repeat,
bool  pclzf_mode 
)

Constructor taking a folder of depth+[rgb] images.

Parameters
[in]directoryDirectory which contains an ordered set of images corresponding to an [RGB]D video, stored as TIFF, PNG, JPG, or PPM files. The naming convention is: frame_[timestamp]_["depth"/"rgb"].[extension]
[in]frames_per_secondframes per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
[in]repeatwhether to play PCD file in an endless loop or not.
pclzf_mode
pcl::ImageGrabberBase::ImageGrabberBase ( const std::string &  depth_directory,
const std::string &  rgb_directory,
float  frames_per_second,
bool  repeat 
)
pcl::ImageGrabberBase::ImageGrabberBase ( const std::vector< std::string > &  depth_image_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]depth_image_filesPath to the depth image files files.
[in]frames_per_secondframes per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
[in]repeatwhether to play PCD file in an endless loop or not.
pcl::ImageGrabberBase::ImageGrabberBase ( const ImageGrabberBase src)
inline

Copy constructor.

Parameters
[in]srcthe Image Grabber base object to copy into this

Definition at line 80 of file image_grabber.h.

virtual pcl::ImageGrabberBase::~ImageGrabberBase ( )
throw (
)
virtual

Virtual destructor.

Member Function Documentation

bool pcl::ImageGrabberBase::atLastFrame ( ) const

Returns if the last frame is reached.

virtual void pcl::ImageGrabberBase::getCameraIntrinsics ( double &  focal_length_x,
double &  focal_length_y,
double &  principal_point_x,
double &  principal_point_y 
) const
virtual

Get the current focal length and center pixel.

If the intrinsics have been manually set with setCameraIntrinsics, this will return those values. Else, if start () has been called and the grabber has found a frame_[timestamp].xml file, this will return the most recent values read. Else, returns factory defaults.

Parameters
[out]focal_length_xHorizontal focal length (fx)
[out]focal_length_yVertical focal length (fy)
[out]principal_point_xHorizontal coordinates of the principal point (cx)
[out]principal_point_yVertical coordinates of the principal point (cy)
bool pcl::ImageGrabberBase::getCloudAt ( size_t  idx,
pcl::PCLPointCloud2 blob,
Eigen::Vector4f &  origin,
Eigen::Quaternionf &  orientation 
) const
protected

Gets the cloud in ROS form at location idx.

std::string pcl::ImageGrabberBase::getCurrentDepthFileName ( ) const

Returns the filename of the current indexed file.

std::string pcl::ImageGrabberBase::getDepthFileNameAtIndex ( size_t  idx) const

Get the depth filename at a particular index.

virtual float pcl::ImageGrabberBase::getFramesPerSecond ( ) const
virtual

Returns the frames_per_second.

0 if grabber is trigger-based

Implements pcl::Grabber.

virtual std::string pcl::ImageGrabberBase::getName ( ) const
virtual
Returns
The name of the grabber

Implements pcl::Grabber.

std::string pcl::ImageGrabberBase::getPrevDepthFileName ( ) const

Returns the filename of the previous indexed file SDM: adding this back in, but is this useful, or confusing?

bool pcl::ImageGrabberBase::getTimestampAtIndex ( size_t  idx,
pcl::uint64_t &  timestamp 
) const

Query only the timestamp of an index, if it exists.

bool pcl::ImageGrabberBase::isRepeatOn ( ) const

Returns whether the repeat flag is on.

virtual bool pcl::ImageGrabberBase::isRunning ( ) const
virtual

whether the grabber is started (publishing) or not.

Returns
true only if publishing.

Implements pcl::Grabber.

size_t pcl::ImageGrabberBase::numFrames ( ) const
protected

Convenience function to see how many frames this consists of.

ImageGrabberBase& pcl::ImageGrabberBase::operator= ( const ImageGrabberBase src)
inline

Copy operator.

Parameters
[in]srcthe Image Grabber base object to copy into this

Definition at line 89 of file image_grabber.h.

virtual void pcl::ImageGrabberBase::rewind ( )
virtual

Rewinds to the first PCD file in the list.

virtual void pcl::ImageGrabberBase::setCameraIntrinsics ( const double  focal_length_x,
const double  focal_length_y,
const double  principal_point_x,
const double  principal_point_y 
)
virtual

Define custom focal length and center pixel.

This will override ANY other setting of parameters for the duration of the grabber's life, whether by factory defaults or explicitly read from a frame_[timestamp].xml file.

Parameters
[in]focal_length_xHorizontal focal length (fx)
[in]focal_length_yVertical focal length (fy)
[in]principal_point_xHorizontal coordinates of the principal point (cx)
[in]principal_point_yVertical coordinates of the principal point (cy)
void pcl::ImageGrabberBase::setDepthImageUnits ( float  units)

Define the units the depth data is stored in.

Defaults to mm (0.001), meaning a brightness of 1000 corresponds to 1 m

void pcl::ImageGrabberBase::setNumberOfThreads ( unsigned int  nr_threads = 0)

Set the number of threads, if we wish to use OpenMP for quicker cloud population.

Note that for a standard (< 4 core) machine this is unlikely to yield a drastic speedup.

void pcl::ImageGrabberBase::setRGBImageFiles ( const std::vector< std::string > &  rgb_image_files)

Manually set RGB image files.

Parameters
[in]rgb_image_filesA vector of [tiff/png/jpg/ppm] files to use as input. There must be a 1-to-1 correspondence between these and the depth images you set
virtual void pcl::ImageGrabberBase::start ( )
virtual

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.

virtual void pcl::ImageGrabberBase::stop ( )
virtual

Stops playing the list of PCD files if frames_per_second is > 0.

Otherwise the method has no effect.

Implements pcl::Grabber.

virtual void pcl::ImageGrabberBase::trigger ( )
virtual

Triggers a callback with new data.


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