184 lines
6.6 KiB
C++
184 lines
6.6 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2012-, Open Perception, Inc.
|
|
*
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <pcl/common/time_trigger.h>
|
|
#include <pcl/io/grabber.h>
|
|
#include <pcl/stereo/stereo_matching.h>
|
|
#include <pcl/conversions.h>
|
|
#include <pcl/point_cloud.h>
|
|
|
|
namespace pcl {
|
|
|
|
/** \brief Base class for Stereo file grabber.
|
|
* \ingroup io
|
|
*/
|
|
class PCL_EXPORTS StereoGrabberBase : public Grabber {
|
|
public:
|
|
/** \brief Constructor taking just one Stereo pair.
|
|
* \param[in] pair_files the name of the the stereo (left + right) images.
|
|
* \param[in] frames_per_second frames per second. If 0, start() functions like a
|
|
* trigger, publishing the next pair in the list.
|
|
* \param[in] repeat whether to play files in an endless loop or not.
|
|
*/
|
|
StereoGrabberBase(const std::pair<std::string, std::string>& pair_files,
|
|
float frames_per_second,
|
|
bool repeat);
|
|
|
|
/** \brief Constructor taking a list of paths to Stereo pair files, that are played in
|
|
* the order they appear in the list.
|
|
*
|
|
* \param[in] files vector of paths to stereo (left+right) images.
|
|
* \param[in] frames_per_second frames per second. If 0, start() functions like a
|
|
* trigger, publishing the next pair in the list.
|
|
* \param[in] repeat whether to play files in an endless loop or not.
|
|
*/
|
|
StereoGrabberBase(const std::vector<std::pair<std::string, std::string>>& files,
|
|
float frames_per_second,
|
|
bool repeat);
|
|
|
|
/** \brief Virtual destructor. */
|
|
~StereoGrabberBase() noexcept;
|
|
|
|
/** \brief Starts playing the list of Stereo images if frames_per_second is > 0.
|
|
* Otherwise it works as a trigger: publishes only the next pair in the list. */
|
|
void
|
|
start() override;
|
|
|
|
/** \brief Stops playing the list of Stereo images if frames_per_second is > 0.
|
|
* Otherwise the method has no effect. */
|
|
void
|
|
stop() override;
|
|
|
|
/** \brief Triggers a callback with new data */
|
|
virtual void
|
|
trigger();
|
|
|
|
/** \brief whether the grabber is started (publishing) or not.
|
|
* \return true only if publishing.
|
|
*/
|
|
bool
|
|
isRunning() const override;
|
|
|
|
/** \return The name of the grabber */
|
|
std::string
|
|
getName() const override;
|
|
|
|
/** \brief Rewinds to the first pair of files in the list.*/
|
|
virtual void
|
|
rewind();
|
|
|
|
/** \brief Returns the frames_per_second. 0 if grabber is trigger-based */
|
|
float
|
|
getFramesPerSecond() const override;
|
|
|
|
/** \brief Returns whether the repeat flag is on */
|
|
bool
|
|
isRepeatOn() const;
|
|
|
|
private:
|
|
virtual void
|
|
publish(const pcl::PCLPointCloud2& blob,
|
|
const Eigen::Vector4f& origin,
|
|
const Eigen::Quaternionf& orientation) const = 0;
|
|
|
|
// to separate and hide the implementation from interface: PIMPL
|
|
struct StereoGrabberImpl;
|
|
StereoGrabberImpl* impl_;
|
|
};
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointT>
|
|
class StereoGrabber : public StereoGrabberBase {
|
|
public:
|
|
StereoGrabber(const std::pair<std::string, std::string>& pair_files,
|
|
float frames_per_second = 0,
|
|
bool repeat = false);
|
|
StereoGrabber(const std::vector<std::pair<std::string, std::string>>& files,
|
|
float frames_per_second = 0,
|
|
bool repeat = false);
|
|
|
|
protected:
|
|
void
|
|
publish(const pcl::PCLPointCloud2& blob,
|
|
const Eigen::Vector4f& origin,
|
|
const Eigen::Quaternionf& orientation) const override;
|
|
|
|
boost::signals2::signal<void(const typename pcl::PointCloud<PointT>::ConstPtr&)>*
|
|
signal_;
|
|
};
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointT>
|
|
StereoGrabber<PointT>::StereoGrabber(
|
|
const std::pair<std::string, std::string>& pair_files,
|
|
float frames_per_second,
|
|
bool repeat)
|
|
: StereoGrabberBase(pair_files, frames_per_second, repeat)
|
|
{
|
|
signal_ = createSignal<void(const typename pcl::PointCloud<PointT>::ConstPtr&)>();
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointT>
|
|
StereoGrabber<PointT>::StereoGrabber(
|
|
const std::vector<std::pair<std::string, std::string>>& files,
|
|
float frames_per_second,
|
|
bool repeat)
|
|
: StereoGrabberBase(files, frames_per_second, repeat), signal_()
|
|
{
|
|
signal_ = createSignal<void(const typename pcl::PointCloud<PointT>::ConstPTr&)>();
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointT>
|
|
void
|
|
StereoGrabber<PointT>::publish(const pcl::PCLPointCloud2& blob,
|
|
const Eigen::Vector4f& origin,
|
|
const Eigen::Quaternionf& orientation) const
|
|
{
|
|
typename pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>());
|
|
pcl::fromPCLPointCloud2(blob, *cloud);
|
|
cloud->sensor_origin_ = origin;
|
|
cloud->sensor_orientation_ = orientation;
|
|
|
|
signal_->operator()(cloud);
|
|
}
|
|
|
|
} // namespace pcl
|