#include <pcl/io/image_grabber.h>
Public Types |
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| using | Ptr = shared_ptr< ImageGrabber > |
| using | ConstPtr = shared_ptr< const ImageGrabber > |
Public Member Functions |
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| ImageGrabber (const std::string &dir, float frames_per_second=0, bool repeat=false, bool pclzf_mode=false) | |
| ImageGrabber (const std::string &depth_dir, const std::string &rgb_dir, float frames_per_second=0, bool repeat=false) | |
| ImageGrabber (const std::vector< std::string > &depth_image_files, float frames_per_second=0, bool repeat=false) | |
| ~ImageGrabber () noexcept | |
| Empty destructor. More... |
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| const pcl::PointCloud< PointT >::ConstPtr | operator[] (std::size_t idx) const override |
| operator[] Returns the idx-th cloud in the dataset, without bounds checking. More... |
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| std::size_t | size () const override |
| size Returns the number of clouds currently loaded by the grabber More... |
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 Public Member Functions inherited from pcl::ImageGrabberBase |
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| ImageGrabberBase (const std::string &directory, float frames_per_second, bool repeat, bool pclzf_mode) | |
| Constructor taking a folder of depth+[rgb] images. More... |
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| 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... |
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| ~ImageGrabberBase () noexcept | |
| Virtual destructor. More... |
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| void | start () override |
| Starts playing the list of PCD files if frames_per_second is > 0. More... |
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| void | stop () override |
| Stops playing the list of PCD files if frames_per_second is > 0. More... |
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| virtual void | trigger () |
| Triggers a callback with new data. More... |
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| bool | isRunning () const override |
| whether the grabber is started (publishing) or not. More... |
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| std::string | getName () const override |
| virtual void | rewind () |
| Rewinds to the first PCD file in the list. More... |
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| float | getFramesPerSecond () const override |
| Returns the frames_per_second. More... |
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| bool | isRepeatOn () const |
| Returns whether the repeat flag is on. More... |
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| bool | atLastFrame () const |
| Returns if the last frame is reached. More... |
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| std::string | getCurrentDepthFileName () const |
| Returns the filename of the current indexed file. More... |
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| std::string | getPrevDepthFileName () const |
| Returns the filename of the previous indexed file SDM: adding this back in, but is this useful, or confusing? More... |
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| std::string | getDepthFileNameAtIndex (std::size_t idx) const |
| Get the depth filename at a particular index. More... |
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| bool | getTimestampAtIndex (std::size_t idx, std::uint64_t ×tamp) const |
| Query only the timestamp of an index, if it exists. More... |
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| void | setRGBImageFiles (const std::vector< std::string > &rgb_image_files) |
| Manually set RGB image files. More... |
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| 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... |
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| 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... |
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| void | setDepthImageUnits (float units) |
| Define the units the depth data is stored in. More... |
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| void | setNumberOfThreads (unsigned int nr_threads=0) |
| Set the number of threads, if we wish to use OpenMP for quicker cloud population. More... |
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| Public Member Functions inherited from pcl::Grabber |
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| Grabber ()=default | |
| Default ctor. More... |
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| Grabber (const Grabber &)=delete | |
| No copy ctor since Grabber can't be copied. More... |
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| Grabber & | operator= (const Grabber &)=delete |
| No copy assign operator since Grabber can't be copied. More... |
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| Grabber (Grabber &&)=default | |
| Move ctor. More... |
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| Grabber & | operator= (Grabber &&)=default |
| Move assign operator. More... |
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| virtual | ~Grabber () noexcept=default |
| virtual destructor. More... |
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| 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... |
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| template<typename T > | |
| bool | providesCallback () const noexcept |
| indicates whether a signal with given parameter-type exists or not More... |
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| bool | toggle () |
| For devices that are streaming, stopped streams are started and running stream are stopped. More... |
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| Public Member Functions inherited from pcl::FileGrabber< PointT > |
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| virtual | ~FileGrabber () |
| Empty destructor. More... |
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| virtual const pcl::PointCloud< PointT >::ConstPtr | at (std::size_t idx) const |
| at Returns the idx-th cloud in the dataset, with bounds checking More... |
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Protected Member Functions |
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| void | publish (const pcl::PCLPointCloud2 &blob, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation) const override |
| Protected Member Functions inherited from pcl::ImageGrabberBase |
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| std::size_t | numFrames () const |
| Convenience function to see how many frames this consists of. More... |
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| bool | getCloudAt (std::size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const |
| Gets the cloud in ROS form at location idx. More... |
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| Protected Member Functions inherited from pcl::Grabber |
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| 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 |
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| boost::signals2::signal< void(const typename pcl::PointCloud< PointT >::ConstPtr &)> * | signal_ |
| Protected Attributes inherited from pcl::Grabber |
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| 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
template<typename PointT>
class pcl::ImageGrabber< PointT >
Definition at line 199 of file image_grabber.h.
Member Typedef Documentation
ConstPtr
template<typename PointT >
| using pcl::ImageGrabber< PointT >::ConstPtr = shared_ptr<const ImageGrabber> |
Definition at line 203 of file image_grabber.h.
Ptr
template<typename PointT >
| using pcl::ImageGrabber< PointT >::Ptr = shared_ptr<ImageGrabber> |
Definition at line 202 of file image_grabber.h.
Constructor & Destructor Documentation
ImageGrabber() [1/3]
template<typename PointT >
| pcl::ImageGrabber< PointT >::ImageGrabber | ( | const std::string & | dir, |
| float | frames_per_second = 0, |
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| bool | repeat = false, |
||
| bool | pclzf_mode = false |
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| ) |
Definition at line 240 of file image_grabber.h.
References pcl::Grabber::createSignal(), and pcl::ImageGrabber< PointT >::signal_.
ImageGrabber() [2/3]
template<typename PointT >
| pcl::ImageGrabber< PointT >::ImageGrabber | ( | const std::string & | depth_dir, |
| const std::string & | rgb_dir, | ||
| float | frames_per_second = 0, |
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| bool | repeat = false |
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| ) |
Definition at line 251 of file image_grabber.h.
References pcl::Grabber::createSignal(), and pcl::ImageGrabber< PointT >::signal_.
ImageGrabber() [3/3]
template<typename PointT >
| pcl::ImageGrabber< PointT >::ImageGrabber | ( | const std::vector< std::string > & | depth_image_files, |
| float | frames_per_second = 0, |
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| bool | repeat = false |
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| ) |
Definition at line 262 of file image_grabber.h.
References pcl::Grabber::createSignal(), and pcl::ImageGrabber< PointT >::signal_.
~ImageGrabber()
template<typename PointT >
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inlinenoexcept |
Empty destructor.
Definition at line 220 of file image_grabber.h.
Member Function Documentation
operator[]()
template<typename PointT >
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overridevirtual |
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
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[in] idx The frame to load
Implements pcl::FileGrabber< PointT >.
Definition at line 272 of file image_grabber.h.
References pcl::fromPCLPointCloud2(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
publish()
template<typename PointT >
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overrideprotectedvirtual |
Implements pcl::ImageGrabberBase.
Definition at line 294 of file image_grabber.h.
References pcl::fromPCLPointCloud2(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
size()
template<typename PointT >
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overridevirtual |
size Returns the number of clouds currently loaded by the grabber
Implements pcl::FileGrabber< PointT >.
Definition at line 287 of file image_grabber.h.
Member Data Documentation
signal_
template<typename PointT >
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protected |
Definition at line 235 of file image_grabber.h.
Referenced by pcl::ImageGrabber< PointT >::ImageGrabber().
The documentation for this class was generated from the following file:
- pcl/io/image_grabber.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_image_grabber.html
