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Constructor taking a folder of depth+[rgb] images.

Parameters

[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

Constructor taking a list of paths to PCD files, that are played in the order they appear in the list.

Parameters

[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.

Virtual destructor.

Returns if the last frame is reached.

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

[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)

Gets the cloud in ROS form at location idx.

Returns the filename of the current indexed file.

Get the depth filename at a particular index.

Returns the frames_per_second.

0 if grabber is trigger-based

Implements pcl::Grabber.

Returns

The name of the grabber

Implements pcl::Grabber.

Returns the filename of the previous indexed file SDM: adding this back in, but is this useful, or confusing?

Query only the timestamp of an index, if it exists.

Returns whether the repeat flag is on.

whether the grabber is started (publishing) or not.

Returns

true only if publishing.

Implements pcl::Grabber.

Convenience function to see how many frames this consists of.

Rewinds to the first PCD file in the list.

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

[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)

Define the units the depth data is stored in.

Defaults to mm (0.001), meaning a brightness of 1000 corresponds to 1 m

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.

Manually set RGB image files.

Parameters

[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

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.

Stops playing the list of PCD files if frames_per_second is > 0.

Otherwise the method has no effect.

Implements pcl::Grabber.

Triggers a callback with new data.