Point Cloud Library (PCL)  1.9.1-dev
file_grabber.h
1 
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38  * $Id: file_grabber.h 8413 2013-01-15 08:37:39Z sdmiller $
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41 
42 #pragma once
43 
44 #include <pcl/point_cloud.h>
45 
46 namespace pcl
47 {
48  /** \brief FileGrabber provides a container-style interface for grabbers which operate on fixed-size input
49  * \author Stephen Miller
50  * \ingroup io
51  */
52  template <typename PointT>
54  {
55  public:
56 
57  /** \brief Empty destructor */
58  virtual ~FileGrabber () {}
59 
60  /** \brief operator[] Returns the idx-th cloud in the dataset, without bounds checking.
61  * Note that in the future, this could easily be modified to do caching
62  * \param[in] idx The frame to load
63  */
64  virtual const typename pcl::PointCloud<PointT>::ConstPtr
65  operator[] (size_t idx) const = 0;
66 
67  /** \brief size Returns the number of clouds currently loaded by the grabber */
68  virtual size_t
69  size () const = 0;
70 
71  /** \brief at Returns the idx-th cloud in the dataset, with bounds checking
72  * \param[in] idx The frame to load
73  */
74  virtual const typename pcl::PointCloud<PointT>::ConstPtr
75  at (size_t idx) const
76  {
77  if (idx >= size ())
78  {
79  // Throw error
80  throw pcl::IOException ("[pcl::FileGrabber] Attempted to access element which is out of bounds!");
81  }
82  return (operator[] (idx));
83  }
84  };
85 }
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
virtual ~FileGrabber()
Empty destructor.
Definition: file_grabber.h:58
FileGrabber provides a container-style interface for grabbers which operate on fixed-size input...
Definition: file_grabber.h:53
virtual const pcl::PointCloud< PointT >::ConstPtr at(size_t idx) const
at Returns the idx-th cloud in the dataset, with bounds checking
Definition: file_grabber.h:75
An exception that is thrown during an IO error (typical read/write errors)
Definition: exceptions.h:179
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:445
#define PCL_EXPORTS
Definition: pcl_macros.h:227