Base class for Image file grabber. More...
#include <pcl/io/image_grabber.h>
Public Member Functions |
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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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Protected Member Functions |
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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 () |
Additional Inherited Members |
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| 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
Base class for Image file grabber.
Definition at line 59 of file image_grabber.h.
Constructor & Destructor Documentation
ImageGrabberBase() [1/3]
| 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
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[in] directory Directory 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_second frames per second. If 0, start() functions like a trigger, publishing the next PCD in the list. [in] repeat whether to play PCD file in an endless loop or not. pclzf_mode
ImageGrabberBase() [2/3]
| pcl::ImageGrabberBase::ImageGrabberBase | ( | const std::string & | depth_directory, |
| const std::string & | rgb_directory, | ||
| float | frames_per_second, | ||
| bool | repeat | ||
| ) |
ImageGrabberBase() [3/3]
| 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
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[in] depth_image_files Path to the depth image files files. [in] frames_per_second frames per second. If 0, start() functions like a trigger, publishing the next PCD in the list. [in] repeat whether to play PCD file in an endless loop or not.
~ImageGrabberBase()
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noexcept |
Virtual destructor.
Member Function Documentation
atLastFrame()
| bool pcl::ImageGrabberBase::atLastFrame | ( | ) | const |
Returns if the last frame is reached.
getCameraIntrinsics()
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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
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[out] focal_length_x Horizontal focal length (fx) [out] focal_length_y Vertical focal length (fy) [out] principal_point_x Horizontal coordinates of the principal point (cx) [out] principal_point_y Vertical coordinates of the principal point (cy)
getCloudAt()
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protected |
Gets the cloud in ROS form at location idx.
getCurrentDepthFileName()
| std::string pcl::ImageGrabberBase::getCurrentDepthFileName | ( | ) | const |
Returns the filename of the current indexed file.
getDepthFileNameAtIndex()
| std::string pcl::ImageGrabberBase::getDepthFileNameAtIndex | ( | std::size_t | idx | ) | const |
Get the depth filename at a particular index.
getFramesPerSecond()
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overridevirtual |
getName()
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overridevirtual |
- Returns
- The name of the grabber
Implements pcl::Grabber.
getPrevDepthFileName()
| 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?
getTimestampAtIndex()
| bool pcl::ImageGrabberBase::getTimestampAtIndex | ( | std::size_t | idx, |
| std::uint64_t & | timestamp | ||
| ) | const |
Query only the timestamp of an index, if it exists.
isRepeatOn()
| bool pcl::ImageGrabberBase::isRepeatOn | ( | ) | const |
Returns whether the repeat flag is on.
isRunning()
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overridevirtual |
whether the grabber is started (publishing) or not.
- Returns
- true only if publishing.
Implements pcl::Grabber.
numFrames()
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protected |
Convenience function to see how many frames this consists of.
rewind()
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virtual |
Rewinds to the first PCD file in the list.
setCameraIntrinsics()
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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
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[in] focal_length_x Horizontal focal length (fx) [in] focal_length_y Vertical focal length (fy) [in] principal_point_x Horizontal coordinates of the principal point (cx) [in] principal_point_y Vertical coordinates of the principal point (cy)
setDepthImageUnits()
| 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
setNumberOfThreads()
| 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.
setRGBImageFiles()
| void pcl::ImageGrabberBase::setRGBImageFiles | ( | const std::vector< std::string > & | rgb_image_files | ) |
Manually set RGB image files.
- Parameters
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[in] rgb_image_files A 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
start()
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overridevirtual |
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.
stop()
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overridevirtual |
Stops playing the list of PCD files if frames_per_second is > 0.
Otherwise the method has no effect.
Implements pcl::Grabber.
trigger()
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virtual |
Triggers a callback with new data.
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_base.html
