38 #ifndef PCL_STEREO_STEREO_GRABER_H_ 39 #define PCL_STEREO_STEREO_GRABER_H_ 41 #include <pcl/io/grabber.h> 42 #include <pcl/common/time_trigger.h> 43 #include <pcl/conversions.h> 44 #include <pcl/stereo/stereo_matching.h> 59 StereoGrabberBase (
const std::pair<std::string, std::string>& pair_files,
float frames_per_second,
bool repeat);
66 StereoGrabberBase (
const std::vector<std::pair<std::string, std::string> >& files,
float frames_per_second,
bool repeat);
117 getFramesPerSecond () const;
128 struct StereoGrabberImpl;
129 StereoGrabberImpl* impl_;
137 StereoGrabber (
const std::pair<std::string, std::string> & pair_files,
float frames_per_second = 0,
bool repeat =
false);
138 StereoGrabber (
const std::vector<std::pair<std::string, std::string> >& files,
float frames_per_second = 0,
bool repeat =
false);
141 publish (
const pcl::PCLPointCloud2& blob,
const Eigen::Vector4f& origin,
const Eigen::Quaternionf& orientation)
const;
147 template<
typename Po
intT>
155 template<
typename Po
intT>
163 template<
typename Po
intT>
void 171 signal_->operator () (cloud);
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
StereoGrabber(const std::pair< std::string, std::string > &pair_files, float frames_per_second=0, bool repeat=false)
StereoGrabberBase(const StereoGrabberBase &src)
Copy constructor.
Grabber interface for PCL 1.x device drivers.
boost::shared_ptr< PointCloud< PointT > > Ptr
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
boost::signals2::signal< T > * createSignal()
virtual void publish(const pcl::PCLPointCloud2 &blob, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation) const
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
PointCloud represents the base class in PCL for storing collections of 3D points.
boost::signals2::signal< void(const boost::shared_ptr< const pcl::PointCloud< PointT > > &)> * signal_
A point structure representing Euclidean xyz coordinates, and the RGB color.
Base class for Stereo file grabber.