Base class for Image file grabber. More...

#include <image_grabber.h>

Inheritance diagram for pcl::ImageGrabberBase:

Classes
struct	ImageGrabberImpl
Public Member Functions
bool	atLastFrame () const
	Returns if the last frame is reached.
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. If the intrinsics have been manually set with @, 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.
std::string	getCurrentDepthFileName () const
	Returns the filename of the current indexed file.
std::string	getDepthFileNameAtIndex (size_t idx) const
	Get the depth filename at a particular index.
virtual float	getFramesPerSecond () const
	Returns the frames_per_second. 0 if grabber is trigger-based.
virtual std::string	getName () const
std::string	getPrevDepthFileName () const
	Returns the filename of the previous indexed file SDM: adding this back in, but is this useful, or confusing?
bool	getTimestampAtIndex (size_t idx, uint64_t &timestamp) const
	Query only the timestamp of an index, if it exists.
	ImageGrabberBase (const std::string &directory, float frames_per_second, bool repeat, bool pclzf_mode)
	Constructor taking a folder of depth+[rgb] images.
	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.
	ImageGrabberBase (const ImageGrabberBase &src)
	Copy constructor.
bool	isRepeatOn () const
	Returns whether the repeat flag is on.
virtual bool	isRunning () const
	whether the grabber is started (publishing) or not.
ImageGrabberBase &	operator= (const ImageGrabberBase &src)
	Copy operator.
virtual void	rewind ()
	Rewinds to the first PCD file in the list.
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. 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.
void	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.
void	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.
void	setRGBImageFiles (const std::vector< std::string > &rgb_image_files)
	Manually set RGB image files.
virtual void	start ()
	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.
virtual void	stop ()
	Stops playing the list of PCD files if frames_per_second is > 0. Otherwise the method has no effect.
virtual void	trigger ()
	Triggers a callback with new data.
virtual	~ImageGrabberBase () throw ()
	Virtual destructor.
Protected Member Functions
bool	getCloudAt (size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const
	Gets the cloud in ROS form at location idx.
size_t	numFrames () const
	Convenience function to see how many frames this consists of.
Private Member Functions
virtual void	publish (const pcl::PCLPointCloud2 &blob, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation) const =0
Private Attributes
ImageGrabberImpl *	impl_

Detailed Description

Base class for Image file grabber.

Definition at line 58 of file image_grabber.h.

Constructor & Destructor Documentation

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:

[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.

Definition at line 876 of file image_grabber.cpp.

pcl::ImageGrabberBase::ImageGrabberBase	(	const std::string &	depth_directory,
		const std::string &	rgb_directory,
		float	frames_per_second,
		bool	repeat
	)

Definition at line 882 of file image_grabber.cpp.

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:

[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.

Definition at line 888 of file image_grabber.cpp.

pcl::ImageGrabberBase::ImageGrabberBase ( const ImageGrabberBase & src ) [inline]

Copy constructor.

Parameters:

[in] src the Image Grabber base object to copy into this

Definition at line 79 of file image_grabber.h.

pcl::ImageGrabberBase::~ImageGrabberBase ( ) throw () [virtual]

Virtual destructor.

Definition at line 894 of file image_grabber.cpp.

Member Function Documentation

bool pcl::ImageGrabberBase::atLastFrame ( ) const

Returns if the last frame is reached.

Definition at line 1037 of file image_grabber.cpp.

void pcl::ImageGrabberBase::getCameraIntrinsics	(	double &	focal_length_x,
		double &	focal_length_y,
		double &	principal_point_x,
		double &	principal_point_y
	)		const `[virtual]`

Get the current focal length and center pixel. If the intrinsics have been manually set with @, 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)

Definition at line 998 of file image_grabber.cpp.

bool pcl::ImageGrabberBase::getCloudAt	(	size_t	idx,
		pcl::PCLPointCloud2 &	blob,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation
	)		const `[protected]`

Gets the cloud in ROS form at location idx.

Definition at line 1026 of file image_grabber.cpp.

std::string pcl::ImageGrabberBase::getCurrentDepthFileName ( ) const

Returns the filename of the current indexed file.

Definition at line 1047 of file image_grabber.cpp.

std::string pcl::ImageGrabberBase::getDepthFileNameAtIndex ( size_t idx ) const

Get the depth filename at a particular index.

Definition at line 1072 of file image_grabber.cpp.

float pcl::ImageGrabberBase::getFramesPerSecond ( ) const [virtual]

Returns the frames_per_second. 0 if grabber is trigger-based.

Implements pcl::Grabber.

Definition at line 956 of file image_grabber.cpp.

std::string pcl::ImageGrabberBase::getName ( ) const [virtual]

Returns:: The name of the grabber

Implements pcl::Grabber.

Definition at line 942 of file image_grabber.cpp.

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?

Definition at line 1059 of file image_grabber.cpp.

bool pcl::ImageGrabberBase::getTimestampAtIndex	(	size_t	idx,
		uint64_t &	timestamp
	)		const

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

Definition at line 1085 of file image_grabber.cpp.

bool pcl::ImageGrabberBase::isRepeatOn ( ) const

Returns whether the repeat flag is on.

Definition at line 963 of file image_grabber.cpp.

bool pcl::ImageGrabberBase::isRunning ( ) const [virtual]

whether the grabber is started (publishing) or not.

Returns:: true only if publishing.

Implements pcl::Grabber.

Definition at line 935 of file image_grabber.cpp.

size_t pcl::ImageGrabberBase::numFrames ( ) const [protected]

Convenience function to see how many frames this consists of.

Definition at line 1019 of file image_grabber.cpp.

ImageGrabberBase& pcl::ImageGrabberBase::operator= ( const ImageGrabberBase & src ) [inline]

Copy operator.

Parameters:

[in] src the Image Grabber base object to copy into this

Definition at line 88 of file image_grabber.h.

virtual void pcl::ImageGrabberBase::publish	(	const pcl::PCLPointCloud2 &	blob,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation
	)		const `[private, pure virtual]`

Implemented in pcl::ImageGrabber< PointT >.

void pcl::ImageGrabberBase::rewind ( ) [virtual]

Rewinds to the first PCD file in the list.

Definition at line 949 of file image_grabber.cpp.

void pcl::ImageGrabberBase::setCameraIntrinsics	(	const double	focal_length_x,
		const double	focal_length_y,
		const double	principal_point_x,
		const double	principal_point_y
	)		`[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:

[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)

Definition at line 979 of file image_grabber.cpp.

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.

Definition at line 1013 of file image_grabber.cpp.

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.

Definition at line 1097 of file image_grabber.cpp.

void pcl::ImageGrabberBase::setRGBImageFiles ( const std::vector< std::string > & rgb_image_files )

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

Definition at line 970 of file image_grabber.cpp.

void pcl::ImageGrabberBase::start ( ) [virtual]

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.

Definition at line 902 of file image_grabber.cpp.

void pcl::ImageGrabberBase::stop ( ) [virtual]

Stops playing the list of PCD files if frames_per_second is > 0. Otherwise the method has no effect.

Implements pcl::Grabber.

Definition at line 915 of file image_grabber.cpp.

void pcl::ImageGrabberBase::trigger ( ) [virtual]

Triggers a callback with new data.

Definition at line 926 of file image_grabber.cpp.

Member Data Documentation

ImageGrabberImpl* pcl::ImageGrabberBase::impl_ [private]

Definition at line 208 of file image_grabber.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation