#include <pcl/io/pcd_grabber.h>
Public Types |
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| using | Ptr = shared_ptr< PCDGrabber > |
| using | ConstPtr = shared_ptr< const PCDGrabber > |
Public Member Functions |
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| 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) | |
| ~PCDGrabber () noexcept | |
| Virtual 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::PCDGrabberBase |
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| 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... |
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| 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... |
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| ~PCDGrabberBase () 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 |
| Indicates whether the grabber is streaming 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 | getCloudAt (std::size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const |
| Get cloud (in ROS form) at a particular location. More... |
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| std::size_t | numFrames () const |
| Returns the size. 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 std::string &file_name) const override |
| 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_ |
| boost::signals2::signal< void(const std::string &)> * | file_name_signal_ |
| boost::signals2::signal< void(const openni_wrapper::DepthImage::Ptr &)> * | depth_image_signal_ |
| boost::signals2::signal< void(const openni_wrapper::Image::Ptr &)> * | image_signal_ |
| boost::signals2::signal< void(const openni_wrapper::Image::Ptr &, const openni_wrapper::DepthImage::Ptr &, float constant)> * | image_depth_image_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::PCDGrabber< PointT >
Definition at line 139 of file pcd_grabber.h.
Member Typedef Documentation
ConstPtr
| using pcl::PCDGrabber< PointT >::ConstPtr = shared_ptr<const PCDGrabber> |
Definition at line 143 of file pcd_grabber.h.
Ptr
| using pcl::PCDGrabber< PointT >::Ptr = shared_ptr<PCDGrabber> |
Definition at line 142 of file pcd_grabber.h.
Constructor & Destructor Documentation
PCDGrabber() [1/2]
| pcl::PCDGrabber< PointT >::PCDGrabber | ( | const std::string & | pcd_path, |
| float | frames_per_second = 0, |
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| bool | repeat = false |
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| ) |
Definition at line 178 of file pcd_grabber.h.
References pcl::Grabber::createSignal(), pcl::PCDGrabber< PointT >::depth_image_signal_, pcl::PCDGrabber< PointT >::file_name_signal_, pcl::PCDGrabber< PointT >::image_depth_image_signal_, pcl::PCDGrabber< PointT >::image_signal_, and pcl::PCDGrabber< PointT >::signal_.
PCDGrabber() [2/2]
| pcl::PCDGrabber< PointT >::PCDGrabber | ( | const std::vector< std::string > & | pcd_files, |
| float | frames_per_second = 0, |
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| bool | repeat = false |
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| ) |
Definition at line 192 of file pcd_grabber.h.
References pcl::Grabber::createSignal(), pcl::PCDGrabber< PointT >::depth_image_signal_, pcl::PCDGrabber< PointT >::file_name_signal_, pcl::PCDGrabber< PointT >::image_depth_image_signal_, pcl::PCDGrabber< PointT >::image_signal_, and pcl::PCDGrabber< PointT >::signal_.
~PCDGrabber()
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inlinenoexcept |
Virtual destructor.
Definition at line 149 of file pcd_grabber.h.
References pcl::PCDGrabberBase::stop().
Member Function Documentation
operator[]()
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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
-
[in] idx The frame to load
Implements pcl::FileGrabber< PointT >.
Definition at line 206 of file pcd_grabber.h.
References pcl::fromPCLPointCloud2(), pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.
publish()
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overrideprotectedvirtual |
Implements pcl::PCDGrabberBase.
Definition at line 228 of file pcd_grabber.h.
References pcl::fromPCLPointCloud2(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::isOrganized(), pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, and pcl::PointCloud< PointT >::width.
size()
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overridevirtual |
size Returns the number of clouds currently loaded by the grabber
Implements pcl::FileGrabber< PointT >.
Definition at line 221 of file pcd_grabber.h.
Member Data Documentation
depth_image_signal_
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protected |
Definition at line 170 of file pcd_grabber.h.
Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().
file_name_signal_
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protected |
Definition at line 167 of file pcd_grabber.h.
Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().
image_depth_image_signal_
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protected |
Definition at line 172 of file pcd_grabber.h.
Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().
image_signal_
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protected |
Definition at line 171 of file pcd_grabber.h.
Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().
signal_
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protected |
Definition at line 166 of file pcd_grabber.h.
Referenced by pcl::PCDGrabber< PointT >::PCDGrabber().
The documentation for this class was generated from the following file:
- pcl/io/pcd_grabber.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_p_c_d_grabber.html
