Base class for PCD file grabber. More...
#include <pcl/io/pcd_grabber.h>
Public Member Functions |
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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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Additional Inherited Members |
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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 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 PCD file grabber.
Definition at line 63 of file pcd_grabber.h.
Constructor & Destructor Documentation
PCDGrabberBase() [1/2]
| 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.
- Parameters
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[in] pcd_file path to the PCD file [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.
PCDGrabberBase() [2/2]
| pcl::PCDGrabberBase::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.
- Parameters
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[in] pcd_files vector of paths to PCD 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.
~PCDGrabberBase()
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noexcept |
Virtual destructor.
Member Function Documentation
getCloudAt()
| bool pcl::PCDGrabberBase::getCloudAt | ( | std::size_t | idx, |
| pcl::PCLPointCloud2 & | blob, | ||
| Eigen::Vector4f & | origin, | ||
| Eigen::Quaternionf & | orientation | ||
| ) | const |
Get cloud (in ROS form) at a particular location.
getFramesPerSecond()
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overridevirtual |
getName()
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overridevirtual |
- Returns
- The name of the grabber
Implements pcl::Grabber.
isRepeatOn()
| bool pcl::PCDGrabberBase::isRepeatOn | ( | ) | const |
Returns whether the repeat flag is on.
isRunning()
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overridevirtual |
Indicates whether the grabber is streaming or not.
- Returns
- true if grabber is started and hasn't run out of PCD files.
Implements pcl::Grabber.
numFrames()
| std::size_t pcl::PCDGrabberBase::numFrames | ( | ) | const |
Returns the size.
rewind()
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virtual |
Rewinds to the first PCD file in the list.
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.
Referenced by pcl::PCDGrabber< PointT >::~PCDGrabber().
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/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_base.html
