Point Cloud Library (PCL)  1.7.0
Public Member Functions
pcl::PCDGrabberBase Class Reference

Base class for PCD file grabber. More...

#include <pcl/io/pcd_grabber.h>

+ Inheritance diagram for pcl::PCDGrabberBase:

List of all members.

Public Member Functions

 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.
PCDGrabberBaseoperator= (const PCDGrabberBase &src)
 Copy operator.
virtual ~PCDGrabberBase () throw ()
 Virtual destructor.
virtual void start ()
 Starts playing the list of PCD files if frames_per_second is > 0.
virtual void stop ()
 Stops playing the list of PCD files if frames_per_second is > 0.
virtual void trigger ()
 Triggers a callback with new data.
virtual bool isRunning () const
 Indicates whether the grabber is streaming or not.
virtual std::string getName () const
virtual void rewind ()
 Rewinds to the first PCD file in the list.
virtual float getFramesPerSecond () const
 Returns the frames_per_second.
bool isRepeatOn () const
 Returns whether the repeat flag is on.
bool getCloudAt (size_t idx, pcl::PCLPointCloud2 &blob, Eigen::Vector4f &origin, Eigen::Quaternionf &orientation) const
 Get cloud (in ROS form) at a particular location.
size_t numFrames () const
 Returns the size.

Detailed Description

Base class for PCD file grabber.

Definition at line 62 of file pcd_grabber.h.


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_filepath to the PCD file
[in]frames_per_secondframes per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
[in]repeatwhether to play PCD file in an endless loop or not.
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_filesvector of paths to PCD files.
[in]frames_per_secondframes per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
[in]repeatwhether to play PCD file in an endless loop or not.

Copy constructor.

Parameters:
[in]srcthe PCD Grabber base object to copy into this

Definition at line 82 of file pcd_grabber.h.

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

Virtual destructor.


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.

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

Returns the frames_per_second.

0 if grabber is trigger-based

Implements pcl::Grabber.

virtual std::string pcl::PCDGrabberBase::getName ( ) const [virtual]
Returns:
The name of the grabber

Implements pcl::Grabber.

Returns whether the repeat flag is on.

virtual 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.

Returns the size.

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

Copy operator.

Parameters:
[in]srcthe PCD Grabber base object to copy into this

Definition at line 91 of file pcd_grabber.h.

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

Rewinds to the first PCD file in the list.

virtual 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.

virtual 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.

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

Triggers a callback with new data.


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