Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::PCDGrabber< PointT > Class Template Reference

#include <pcl/io/pcd_grabber.h>

+ Inheritance diagram for pcl::PCDGrabber< PointT >:

Public Member Functions

 PCDGrabber (const std::string &pcd_path, float frames_per_second=0, bool repeat=false)
 
 PCDGrabber (const std::vector< std::string > &pcd_files, float frames_per_second=0, bool repeat=false)
 
virtual ~PCDGrabber () throw ()
 Virtual destructor. More...
 
const boost::shared_ptr< const pcl::PointCloud< PointT > > operator[] (size_t idx) const
 operator[] Returns the idx-th cloud in the dataset, without bounds checking. More...
 
size_t size () const
 size Returns the number of clouds currently loaded by the grabber More...
 
- Public Member Functions inherited from 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. 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 (const PCDGrabberBase &src)
 Copy constructor. More...
 
PCDGrabberBaseoperator= (const PCDGrabberBase &src)
 Copy operator. More...
 
virtual ~PCDGrabberBase () 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
 Indicates whether the grabber is streaming 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 getCloudAt (size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const
 Get cloud (in ROS form) at a particular location. More...
 
size_t numFrames () const
 Returns the size. More...
 
- Public Member Functions inherited from pcl::Grabber
 Grabber ()
 Constructor. More...
 
virtual ~Grabber () throw ()
 virtual destructor. 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...
 
- Public Member Functions inherited from pcl::FileGrabber< PointT >
virtual ~FileGrabber ()
 Empty destructor. More...
 
virtual const boost::shared_ptr< const pcl::PointCloud< PointT > > at (size_t idx) const
 at Returns the idx-th cloud in the dataset, with bounds checking More...
 

Protected Member Functions

virtual void publish (const pcl::PCLPointCloud2 &blob, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation, const std::string &file_name) const
 
- 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 ()
 

Protected Attributes

boost::signals2::signal< void(const boost::shared_ptr< const pcl::PointCloud< PointT > > &)> * signal_
 
boost::signals2::signal< void(const std::string &)> * file_name_signal_
 
boost::signals2::signal< void(const boost::shared_ptr< openni_wrapper::DepthImage > &)> * depth_image_signal_
 
boost::signals2::signal< void(const boost::shared_ptr< openni_wrapper::Image > &)> * image_signal_
 
boost::signals2::signal< void(const boost::shared_ptr< openni_wrapper::Image > &, const boost::shared_ptr< openni_wrapper::DepthImage > &, float constant)> * image_depth_image_signal_
 
- 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

template<typename PointT>
class pcl::PCDGrabber< PointT >

Definition at line 155 of file pcd_grabber.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::PCDGrabber< PointT >::PCDGrabber ( const std::string &  pcd_path,
float  frames_per_second = 0,
bool  repeat = false 
)
template<typename PointT >
pcl::PCDGrabber< PointT >::PCDGrabber ( const std::vector< std::string > &  pcd_files,
float  frames_per_second = 0,
bool  repeat = false 
)
template<typename PointT >
virtual pcl::PCDGrabber< PointT >::~PCDGrabber ( )
throw (
)
inlinevirtual

Virtual destructor.

Definition at line 162 of file pcd_grabber.h.

Member Function Documentation

template<typename PointT >
const boost::shared_ptr< const pcl::PointCloud< PointT > > pcl::PCDGrabber< PointT >::operator[] ( size_t  idx) const
virtual

operator[] Returns the idx-th cloud in the dataset, without bounds checking.

Note that in the future, this could easily be modified to do caching

Parameters
[in]idxThe frame to load

Implements pcl::FileGrabber< PointT >.

Definition at line 219 of file pcd_grabber.h.

References pcl::fromPCLPointCloud2(), pcl::PCDGrabberBase::getCloudAt(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

template<typename PointT >
void pcl::PCDGrabber< PointT >::publish ( const pcl::PCLPointCloud2 blob,
const Eigen::Vector4f &  origin,
const Eigen::Quaternionf &  orientation,
const std::string &  file_name 
) const
protectedvirtual
template<typename PointT >
size_t pcl::PCDGrabber< PointT >::size ( ) const
virtual

size Returns the number of clouds currently loaded by the grabber

Implements pcl::FileGrabber< PointT >.

Definition at line 234 of file pcd_grabber.h.

References pcl::PCDGrabberBase::numFrames().

Member Data Documentation

template<typename PointT >
boost::signals2::signal<void (const boost::shared_ptr<openni_wrapper::DepthImage>&)>* pcl::PCDGrabber< PointT >::depth_image_signal_
protected
template<typename PointT >
boost::signals2::signal<void (const std::string&)>* pcl::PCDGrabber< PointT >::file_name_signal_
protected
template<typename PointT >
boost::signals2::signal<void (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant)>* pcl::PCDGrabber< PointT >::image_depth_image_signal_
protected
template<typename PointT >
boost::signals2::signal<void (const boost::shared_ptr<openni_wrapper::Image>&)>* pcl::PCDGrabber< PointT >::image_signal_
protected
template<typename PointT >
boost::signals2::signal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>* pcl::PCDGrabber< PointT >::signal_
protected

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