Point Cloud Library (PCL)
1.7.0
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A simple ONI grabber. More...
#include <pcl/io/oni_grabber.h>
Public Types | |
typedef void( | sig_cb_openni_image )(const boost::shared_ptr< openni_wrapper::Image > &) |
typedef void( | sig_cb_openni_depth_image )(const boost::shared_ptr< openni_wrapper::DepthImage > &) |
typedef void( | sig_cb_openni_ir_image )(const boost::shared_ptr< openni_wrapper::IRImage > &) |
typedef void( | sig_cb_openni_image_depth_image )(const boost::shared_ptr< openni_wrapper::Image > &, const boost::shared_ptr< openni_wrapper::DepthImage > &, float constant) |
typedef void( | sig_cb_openni_ir_depth_image )(const boost::shared_ptr< openni_wrapper::IRImage > &, const boost::shared_ptr< openni_wrapper::DepthImage > &, float constant) |
typedef void( | sig_cb_openni_point_cloud )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZ > > &) |
typedef void( | sig_cb_openni_point_cloud_rgb )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGB > > &) |
typedef void( | sig_cb_openni_point_cloud_rgba )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGBA > > &) |
typedef void( | sig_cb_openni_point_cloud_i )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZI > > &) |
Public Member Functions | |
ONIGrabber (const std::string &file_name, bool repeat, bool stream) | |
constuctor | |
virtual | ~ONIGrabber () throw () |
destructor never throws an exception | |
virtual void | start () |
For devices that are streaming, the streams are started by calling this method. | |
virtual void | stop () |
For devices that are streaming, the streams are stopped. | |
virtual std::string | getName () const |
returns the name of the concrete subclass. | |
virtual bool | isRunning () const |
Indicates whether the grabber is streaming or not. | |
virtual float | getFramesPerSecond () const |
returns the frames pre second. | |
bool | hasDataLeft () |
Check if there is any data left in the ONI file to process. | |
Protected Member Functions | |
void | imageCallback (boost::shared_ptr< openni_wrapper::Image > image, void *cookie) |
internal OpenNI (openni_wrapper) callback that handles image streams | |
void | depthCallback (boost::shared_ptr< openni_wrapper::DepthImage > depth_image, void *cookie) |
internal OpenNI (openni_wrapper) callback that handles depth streams | |
void | irCallback (boost::shared_ptr< openni_wrapper::IRImage > ir_image, void *cookie) |
internal OpenNI (openni_wrapper) callback that handles IR streams | |
void | imageDepthImageCallback (const boost::shared_ptr< openni_wrapper::Image > &image, const boost::shared_ptr< openni_wrapper::DepthImage > &depth_image) |
internal callback that handles synchronized image + depth streams | |
void | irDepthImageCallback (const boost::shared_ptr< openni_wrapper::IRImage > &image, const boost::shared_ptr< openni_wrapper::DepthImage > &depth_image) |
internal callback that handles synchronized IR + depth streams | |
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZ > > | convertToXYZPointCloud (const boost::shared_ptr< openni_wrapper::DepthImage > &depth) const |
internal method to assemble a point cloud object | |
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZRGB > > | convertToXYZRGBPointCloud (const boost::shared_ptr< openni_wrapper::Image > &image, const boost::shared_ptr< openni_wrapper::DepthImage > &depth_image) const |
internal method to assemble a point cloud object | |
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZRGBA > > | convertToXYZRGBAPointCloud (const boost::shared_ptr< openni_wrapper::Image > &image, const boost::shared_ptr< openni_wrapper::DepthImage > &depth_image) const |
internal method to assemble a point cloud object | |
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZI > > | convertToXYZIPointCloud (const boost::shared_ptr< openni_wrapper::IRImage > &image, const boost::shared_ptr< openni_wrapper::DepthImage > &depth_image) const |
internal method to assemble a point cloud object | |
Protected Attributes | |
Synchronizer < boost::shared_ptr < openni_wrapper::Image > , boost::shared_ptr < openni_wrapper::DepthImage > > | rgb_sync_ |
synchronizer object to synchronize image and depth streams | |
Synchronizer < boost::shared_ptr < openni_wrapper::IRImage > , boost::shared_ptr < openni_wrapper::DepthImage > > | ir_sync_ |
synchronizer object to synchronize IR and depth streams | |
boost::shared_ptr < openni_wrapper::DeviceONI > | device_ |
the actual openni device | |
std::string | rgb_frame_id_ |
std::string | depth_frame_id_ |
bool | running_ |
unsigned | image_width_ |
unsigned | image_height_ |
unsigned | depth_width_ |
unsigned | depth_height_ |
openni_wrapper::OpenNIDevice::CallbackHandle | depth_callback_handle |
openni_wrapper::OpenNIDevice::CallbackHandle | image_callback_handle |
openni_wrapper::OpenNIDevice::CallbackHandle | ir_callback_handle |
boost::signals2::signal < sig_cb_openni_image > * | image_signal_ |
boost::signals2::signal < sig_cb_openni_depth_image > * | depth_image_signal_ |
boost::signals2::signal < sig_cb_openni_ir_image > * | ir_image_signal_ |
boost::signals2::signal < sig_cb_openni_image_depth_image > * | image_depth_image_signal_ |
boost::signals2::signal < sig_cb_openni_ir_depth_image > * | ir_depth_image_signal_ |
boost::signals2::signal < sig_cb_openni_point_cloud > * | point_cloud_signal_ |
boost::signals2::signal < sig_cb_openni_point_cloud_i > * | point_cloud_i_signal_ |
boost::signals2::signal < sig_cb_openni_point_cloud_rgb > * | point_cloud_rgb_signal_ |
boost::signals2::signal < sig_cb_openni_point_cloud_rgba > * | point_cloud_rgba_signal_ |
A simple ONI grabber.
Definition at line 73 of file oni_grabber.h.
typedef void( pcl::ONIGrabber::sig_cb_openni_depth_image)(const boost::shared_ptr< openni_wrapper::DepthImage > &) |
Definition at line 78 of file oni_grabber.h.
typedef void( pcl::ONIGrabber::sig_cb_openni_image)(const boost::shared_ptr< openni_wrapper::Image > &) |
Definition at line 77 of file oni_grabber.h.
typedef void( pcl::ONIGrabber::sig_cb_openni_image_depth_image)(const boost::shared_ptr< openni_wrapper::Image > &, const boost::shared_ptr< openni_wrapper::DepthImage > &, float constant) |
Definition at line 80 of file oni_grabber.h.
typedef void( pcl::ONIGrabber::sig_cb_openni_ir_depth_image)(const boost::shared_ptr< openni_wrapper::IRImage > &, const boost::shared_ptr< openni_wrapper::DepthImage > &, float constant) |
Definition at line 81 of file oni_grabber.h.
typedef void( pcl::ONIGrabber::sig_cb_openni_ir_image)(const boost::shared_ptr< openni_wrapper::IRImage > &) |
Definition at line 79 of file oni_grabber.h.
typedef void( pcl::ONIGrabber::sig_cb_openni_point_cloud)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZ > > &) |
Definition at line 82 of file oni_grabber.h.
typedef void( pcl::ONIGrabber::sig_cb_openni_point_cloud_i)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZI > > &) |
Definition at line 85 of file oni_grabber.h.
typedef void( pcl::ONIGrabber::sig_cb_openni_point_cloud_rgb)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGB > > &) |
Definition at line 83 of file oni_grabber.h.
typedef void( pcl::ONIGrabber::sig_cb_openni_point_cloud_rgba)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZRGBA > > &) |
Definition at line 84 of file oni_grabber.h.
pcl::ONIGrabber::ONIGrabber | ( | const std::string & | file_name, |
bool | repeat, | ||
bool | stream | ||
) |
constuctor
[in] | file_name | the path to the ONI file |
[in] | repeat | whether the play back should be in an infinite loop or not |
[in] | stream | whether the playback should be in streaming mode or in triggered mode. |
virtual pcl::ONIGrabber::~ONIGrabber | ( | ) | throw () [virtual] |
destructor never throws an exception
boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > pcl::ONIGrabber::convertToXYZIPointCloud | ( | const boost::shared_ptr< openni_wrapper::IRImage > & | image, |
const boost::shared_ptr< openni_wrapper::DepthImage > & | depth_image | ||
) | const [protected] |
internal method to assemble a point cloud object
boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > pcl::ONIGrabber::convertToXYZPointCloud | ( | const boost::shared_ptr< openni_wrapper::DepthImage > & | depth | ) | const [protected] |
internal method to assemble a point cloud object
boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> > pcl::ONIGrabber::convertToXYZRGBAPointCloud | ( | const boost::shared_ptr< openni_wrapper::Image > & | image, |
const boost::shared_ptr< openni_wrapper::DepthImage > & | depth_image | ||
) | const [protected] |
internal method to assemble a point cloud object
boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > pcl::ONIGrabber::convertToXYZRGBPointCloud | ( | const boost::shared_ptr< openni_wrapper::Image > & | image, |
const boost::shared_ptr< openni_wrapper::DepthImage > & | depth_image | ||
) | const [protected] |
internal method to assemble a point cloud object
void pcl::ONIGrabber::depthCallback | ( | boost::shared_ptr< openni_wrapper::DepthImage > | depth_image, |
void * | cookie | ||
) | [protected] |
internal OpenNI (openni_wrapper) callback that handles depth streams
virtual float pcl::ONIGrabber::getFramesPerSecond | ( | ) | const [virtual] |
virtual std::string pcl::ONIGrabber::getName | ( | ) | const [virtual] |
returns the name of the concrete subclass.
Implements pcl::Grabber.
bool pcl::ONIGrabber::hasDataLeft | ( | ) | [inline] |
Check if there is any data left in the ONI file to process.
Definition at line 127 of file oni_grabber.h.
void pcl::ONIGrabber::imageCallback | ( | boost::shared_ptr< openni_wrapper::Image > | image, |
void * | cookie | ||
) | [protected] |
internal OpenNI (openni_wrapper) callback that handles image streams
void pcl::ONIGrabber::imageDepthImageCallback | ( | const boost::shared_ptr< openni_wrapper::Image > & | image, |
const boost::shared_ptr< openni_wrapper::DepthImage > & | depth_image | ||
) | [protected] |
internal callback that handles synchronized image + depth streams
void pcl::ONIGrabber::irCallback | ( | boost::shared_ptr< openni_wrapper::IRImage > | ir_image, |
void * | cookie | ||
) | [protected] |
internal OpenNI (openni_wrapper) callback that handles IR streams
void pcl::ONIGrabber::irDepthImageCallback | ( | const boost::shared_ptr< openni_wrapper::IRImage > & | image, |
const boost::shared_ptr< openni_wrapper::DepthImage > & | depth_image | ||
) | [protected] |
internal callback that handles synchronized IR + depth streams
virtual bool pcl::ONIGrabber::isRunning | ( | ) | const [virtual] |
Indicates whether the grabber is streaming or not.
This value is not defined for triggered devices.
Implements pcl::Grabber.
virtual void pcl::ONIGrabber::start | ( | ) | [virtual] |
For devices that are streaming, the streams are started by calling this method.
Trigger-based devices, just trigger the device once for each call of start.
Implements pcl::Grabber.
virtual void pcl::ONIGrabber::stop | ( | ) | [virtual] |
For devices that are streaming, the streams are stopped.
This method has no effect for triggered devices.
Implements pcl::Grabber.
Definition at line 189 of file oni_grabber.h.
std::string pcl::ONIGrabber::depth_frame_id_ [protected] |
Definition at line 183 of file oni_grabber.h.
unsigned pcl::ONIGrabber::depth_height_ [protected] |
Definition at line 188 of file oni_grabber.h.
boost::signals2::signal<sig_cb_openni_depth_image >* pcl::ONIGrabber::depth_image_signal_ [protected] |
Definition at line 193 of file oni_grabber.h.
unsigned pcl::ONIGrabber::depth_width_ [protected] |
Definition at line 187 of file oni_grabber.h.
boost::shared_ptr<openni_wrapper::DeviceONI> pcl::ONIGrabber::device_ [protected] |
the actual openni device
Definition at line 181 of file oni_grabber.h.
Definition at line 190 of file oni_grabber.h.
boost::signals2::signal<sig_cb_openni_image_depth_image>* pcl::ONIGrabber::image_depth_image_signal_ [protected] |
Definition at line 195 of file oni_grabber.h.
unsigned pcl::ONIGrabber::image_height_ [protected] |
Definition at line 186 of file oni_grabber.h.
boost::signals2::signal<sig_cb_openni_image >* pcl::ONIGrabber::image_signal_ [protected] |
Definition at line 192 of file oni_grabber.h.
unsigned pcl::ONIGrabber::image_width_ [protected] |
Definition at line 185 of file oni_grabber.h.
Definition at line 191 of file oni_grabber.h.
boost::signals2::signal<sig_cb_openni_ir_depth_image>* pcl::ONIGrabber::ir_depth_image_signal_ [protected] |
Definition at line 196 of file oni_grabber.h.
boost::signals2::signal<sig_cb_openni_ir_image >* pcl::ONIGrabber::ir_image_signal_ [protected] |
Definition at line 194 of file oni_grabber.h.
Synchronizer<boost::shared_ptr<openni_wrapper::IRImage>, boost::shared_ptr<openni_wrapper::DepthImage> > pcl::ONIGrabber::ir_sync_ [protected] |
synchronizer object to synchronize IR and depth streams
Definition at line 178 of file oni_grabber.h.
boost::signals2::signal<sig_cb_openni_point_cloud_i >* pcl::ONIGrabber::point_cloud_i_signal_ [protected] |
Definition at line 198 of file oni_grabber.h.
boost::signals2::signal<sig_cb_openni_point_cloud_rgb >* pcl::ONIGrabber::point_cloud_rgb_signal_ [protected] |
Definition at line 199 of file oni_grabber.h.
boost::signals2::signal<sig_cb_openni_point_cloud_rgba >* pcl::ONIGrabber::point_cloud_rgba_signal_ [protected] |
Definition at line 200 of file oni_grabber.h.
boost::signals2::signal<sig_cb_openni_point_cloud >* pcl::ONIGrabber::point_cloud_signal_ [protected] |
Definition at line 197 of file oni_grabber.h.
std::string pcl::ONIGrabber::rgb_frame_id_ [protected] |
Definition at line 182 of file oni_grabber.h.
Synchronizer<boost::shared_ptr<openni_wrapper::Image>, boost::shared_ptr<openni_wrapper::DepthImage> > pcl::ONIGrabber::rgb_sync_ [protected] |
synchronizer object to synchronize image and depth streams
Definition at line 175 of file oni_grabber.h.
bool pcl::ONIGrabber::running_ [protected] |
Definition at line 184 of file oni_grabber.h.