Public Member Functions
bool	getCloudAt (size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, double &fx, double &fy, double &cx, double &cy) const
	Get cloud at a particular location.
bool	getCloudPCLZF (size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, double &fx, double &fy, double &cx, double &cy) const
	Get cloud at a particular location.
bool	getCloudVTK (size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const
	Get cloud at a particular location.
bool	getTimestampFromFilepath (const std::string &filepath, uint64_t &timestamp) const
	ImageGrabberImpl (pcl::ImageGrabberBase &grabber, const std::string &dir, float frames_per_second, bool repeat, bool pclzf_mode=false)
	Implementation of ImageGrabber.
	ImageGrabberImpl (pcl::ImageGrabberBase &grabber, const std::string &rgb_dir, const std::string &depth_dir, float frames_per_second, bool repeat)
	For now, split rgb / depth folders only makes sense for VTK images.
	ImageGrabberImpl (pcl::ImageGrabberBase &grabber, const std::vector< std::string > &depth_image_files, float frames_per_second, bool repeat)
bool	isValidExtension (const std::string &extension)
	True if it is an image we know how to read.
void	loadDepthAndRGBFiles (const std::string &dir)
void	loadDepthAndRGBFiles (const std::string &depth_dir, const std::string &rgb_dir)
void	loadNextCloud ()
	Read ahead -- figure out whether we are in VTK image or PCLZF mode.
void	loadPCLZFFiles (const std::string &dir)
	Scrapes a directory for pclzf files which contain "rgb" or "depth and updates.
size_t	numFrames () const
void	rewindOnce ()
	Convenience function to rewind to the last frame.
void	trigger ()
Public Attributes
size_t	cur_frame_
std::vector< std::string >	depth_image_files_
float	depth_image_units_
std::vector< std::string >	depth_pclzf_files_
double	focal_length_x_
double	focal_length_y_
float	frames_per_second_
pcl::ImageGrabberBase &	grabber_
bool	manual_intrinsics_
pcl::PCLPointCloud2	next_cloud_
pcl::PointCloud < pcl::PointXYZRGBA >	next_cloud_color_
pcl::PointCloud< pcl::PointXYZ >	next_cloud_depth_
	Two cases, for depth only and depth+color.
unsigned int	num_threads_
Eigen::Quaternionf	orientation_
Eigen::Vector4f	origin_
bool	pclzf_mode_
	Flag to say if a user set the focal length by hand.
double	principal_point_x_
double	principal_point_y_
bool	repeat_
std::vector< std::string >	rgb_image_files_
std::vector< std::string >	rgb_pclzf_files_
bool	running_
TimeTrigger	time_trigger_
EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool	valid_
std::vector< std::string >	xml_files_

Detailed Description

Definition at line 60 of file image_grabber.cpp.

Constructor & Destructor Documentation

pcl::ImageGrabberBase::ImageGrabberImpl::ImageGrabberImpl	(	pcl::ImageGrabberBase &	grabber,
		const std::string &	dir,
		float	frames_per_second,
		bool	repeat,
		bool	pclzf_mode = `false`
	)

Implementation of ImageGrabber.

Definition at line 174 of file image_grabber.cpp.

pcl::ImageGrabberBase::ImageGrabberImpl::ImageGrabberImpl	(	pcl::ImageGrabberBase &	grabber,
		const std::string &	rgb_dir,
		const std::string &	depth_dir,
		float	frames_per_second,
		bool	repeat
	)

For now, split rgb / depth folders only makes sense for VTK images.

Definition at line 211 of file image_grabber.cpp.

pcl::ImageGrabberBase::ImageGrabberImpl::ImageGrabberImpl	(	pcl::ImageGrabberBase &	grabber,
		const std::vector< std::string > &	depth_image_files,
		float	frames_per_second,
		bool	repeat
	)

Definition at line 241 of file image_grabber.cpp.

Member Function Documentation

bool pcl::ImageGrabberBase::ImageGrabberImpl::getCloudAt	(	size_t	idx,
		pcl::PCLPointCloud2 &	blob,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		double &	fx,
		double &	fy,
		double &	cx,
		double &	cy
	)		const

Get cloud at a particular location.

Definition at line 519 of file image_grabber.cpp.

bool pcl::ImageGrabberBase::ImageGrabberImpl::getCloudPCLZF	(	size_t	idx,
		pcl::PCLPointCloud2 &	blob,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation,
		double &	fx,
		double &	fy,
		double &	cx,
		double &	cy
	)		const

Get cloud at a particular location.

Definition at line 681 of file image_grabber.cpp.

bool pcl::ImageGrabberBase::ImageGrabberImpl::getCloudVTK	(	size_t	idx,
		pcl::PCLPointCloud2 &	blob,
		Eigen::Vector4f &	origin,
		Eigen::Quaternionf &	orientation
	)		const