pcl::PCDGrabberBase Class Reference

Base class for PCD file grabber. More...

#include <pcd_grabber.h>

Inheritance diagram for pcl::PCDGrabberBase:

List of all members.

Classes
struct	PCDGrabberImpl
Public Member Functions
bool	getCloudAt (size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const
	Get cloud (in ROS form) at a particular location.
virtual float	getFramesPerSecond () const
	Returns the frames_per_second. 0 if grabber is trigger-based.
virtual std::string	getName () const
bool	isRepeatOn () const
	Returns whether the repeat flag is on.
virtual bool	isRunning () const
	Indicates whether the grabber is streaming or not.
size_t	numFrames () const
	Returns the size.
PCDGrabberBase &	operator= (const PCDGrabberBase &src)
	Copy operator.
	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.
	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.
	PCDGrabberBase (const PCDGrabberBase &src)
	Copy constructor.
virtual void	rewind ()
	Rewinds to the first PCD file in the list.
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	~PCDGrabberBase () throw ()
	Virtual destructor.
Private Member Functions
virtual void	publish (const pcl::PCLPointCloud2 &blob, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation) const =0
Private Attributes
PCDGrabberImpl *	impl_

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Detailed Description

Base class for PCD file grabber.

Definition at line 62 of file pcd_grabber.h.

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Constructor & Destructor Documentation

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:

[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.

Definition at line 371 of file pcd_grabber.cpp.

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:

[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.

Definition at line 377 of file pcd_grabber.cpp.

pcl::PCDGrabberBase::PCDGrabberBase

(

const PCDGrabberBase &

src

)

[inline]

Copy constructor.

Parameters:

[in]

src

the PCD Grabber base object to copy into this

Definition at line 82 of file pcd_grabber.h.

pcl::PCDGrabberBase::~PCDGrabberBase

(

)

throw () [virtual]

Virtual destructor.

Definition at line 383 of file pcd_grabber.cpp.

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Member Function Documentation

bool pcl::PCDGrabberBase::getCloudAt	(	size_t	idx,
		pcl::PCLPointCloud2 &	blob,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation
	)		const

Get cloud (in ROS form) at a particular location.

Definition at line 463 of file pcd_grabber.cpp.

float pcl::PCDGrabberBase::getFramesPerSecond

(

)

const [virtual]

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

Implements pcl::Grabber.

Definition at line 449 of file pcd_grabber.cpp.

std::string pcl::PCDGrabberBase::getName

(

)

const [virtual]

Returns:

The name of the grabber

Implements pcl::Grabber.

Definition at line 435 of file pcd_grabber.cpp.

bool pcl::PCDGrabberBase::isRepeatOn

(

)

const

Returns whether the repeat flag is on.

Definition at line 456 of file pcd_grabber.cpp.

bool pcl::PCDGrabberBase::isRunning

(

)

const [virtual]

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.

Definition at line 428 of file pcd_grabber.cpp.

size_t pcl::PCDGrabberBase::numFrames

(

)

const

Returns the size.

Definition at line 473 of file pcd_grabber.cpp.

PCDGrabberBase& pcl::PCDGrabberBase::operator=

(

const PCDGrabberBase &

src

)

[inline]

Copy operator.

Parameters:

[in]

src

the PCD Grabber base object to copy into this

Definition at line 91 of file pcd_grabber.h.

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

Implemented in pcl::PCDGrabber< PointT >.

void pcl::PCDGrabberBase::rewind

(

)

[virtual]

Rewinds to the first PCD file in the list.

Definition at line 442 of file pcd_grabber.cpp.

void pcl::PCDGrabberBase::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 391 of file pcd_grabber.cpp.

void pcl::PCDGrabberBase::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 406 of file pcd_grabber.cpp.

void pcl::PCDGrabberBase::trigger

(

)

[virtual]

Triggers a callback with new data.

Definition at line 417 of file pcd_grabber.cpp.

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Member Data Documentation

PCDGrabberImpl* pcl::PCDGrabberBase::impl_ [private]

Definition at line 150 of file pcd_grabber.h.

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

• pcd_grabber.h
• pcd_grabber.cpp