Merge pull request #1354 from hdino/master

Added callback signal for filename of grabbed pcd file.
PointCloudLibrary · Oct 7, 2015 · fd0546d · fd0546d
2 parents 85e0da0 + 05adda0
commit fd0546d
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Showing 2 changed files with 15 additions and 4 deletions.
diff --git a/io/include/pcl/io/pcd_grabber.h b/io/include/pcl/io/pcd_grabber.h
@@ -144,7 +144,7 @@ namespace pcl
 
     private:
       virtual void 
-      publish (const pcl::PCLPointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const = 0;
+      publish (const pcl::PCLPointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation, const std::string& file_name) const = 0;
 
       // to separate and hide the implementation from interface: PIMPL
       struct PCDGrabberImpl;
@@ -175,9 +175,10 @@ namespace pcl
     protected:
 
       virtual void 
-      publish (const pcl::PCLPointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const;
+      publish (const pcl::PCLPointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation, const std::string& file_name) const;
 
       boost::signals2::signal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>* signal_;
+      boost::signals2::signal<void (const std::string&)>* file_name_signal_;
 
 #ifdef HAVE_OPENNI
       boost::signals2::signal<void (const boost::shared_ptr<openni_wrapper::DepthImage>&)>*     depth_image_signal_;
@@ -192,6 +193,7 @@ namespace pcl
   : PCDGrabberBase (pcd_path, frames_per_second, repeat)
   {
     signal_ = createSignal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>();
+    file_name_signal_ = createSignal<void (const std::string&)>();
 #ifdef HAVE_OPENNI
     depth_image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::DepthImage>&)> ();
     image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::Image>&)> ();
@@ -205,6 +207,7 @@ namespace pcl
     : PCDGrabberBase (pcd_files, frames_per_second, repeat), signal_ ()
   {
     signal_ = createSignal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>();
+    file_name_signal_ = createSignal<void (const std::string&)>();
 #ifdef HAVE_OPENNI
     depth_image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::DepthImage>&)> ();
     image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::Image>&)> ();
@@ -236,14 +239,16 @@ namespace pcl
 
   ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
   template<typename PointT> void 
-  PCDGrabber<PointT>::publish (const pcl::PCLPointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const
+  PCDGrabber<PointT>::publish (const pcl::PCLPointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation, const std::string& file_name) 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);
+    if (file_name_signal_->num_slots() > 0)
+        file_name_signal_->operator()(file_name);
 
 #ifdef HAVE_OPENNI
     // If dataset is not organized, return

diff --git a/io/src/pcd_grabber.cpp b/io/src/pcd_grabber.cpp
@@ -95,6 +95,7 @@ struct pcl::PCDGrabberBase::PCDGrabberImpl
   pcl::PCLPointCloud2 next_cloud_;
   Eigen::Vector4f origin_;
   Eigen::Quaternionf orientation_;
+  std::string next_file_name_;
   bool valid_;
 
   // TAR reading I/O
@@ -127,6 +128,7 @@ pcl::PCDGrabberBase::PCDGrabberImpl::PCDGrabberImpl (pcl::PCDGrabberBase& grabbe
   , next_cloud_ ()
   , origin_ ()
   , orientation_ ()
+  , next_file_name_ ()
   , valid_ (false)
   , tar_fd_ (-1)
   , tar_offset_ (0)
@@ -136,6 +138,7 @@ pcl::PCDGrabberBase::PCDGrabberImpl::PCDGrabberImpl (pcl::PCDGrabberBase& grabbe
 {
   pcd_files_.push_back (pcd_path);
   pcd_iterator_ = pcd_files_.begin ();
+  next_file_name_ = *pcd_iterator_;
   readAhead ();
 }
 
@@ -151,6 +154,7 @@ pcl::PCDGrabberBase::PCDGrabberImpl::PCDGrabberImpl (pcl::PCDGrabberBase& grabbe
   , next_cloud_ ()
   , origin_ ()
   , orientation_ ()
+  , next_file_name_ ()
   , valid_ (false)
   , tar_fd_ (-1)
   , tar_offset_ (0)
@@ -160,6 +164,7 @@ pcl::PCDGrabberBase::PCDGrabberImpl::PCDGrabberImpl (pcl::PCDGrabberBase& grabbe
 {
   pcd_files_ = pcd_files;
   pcd_iterator_ = pcd_files_.begin ();
+  next_file_name_ = *pcd_iterator_;
   readAhead ();
 }
 
@@ -210,6 +215,7 @@ pcl::PCDGrabberBase::PCDGrabberImpl::readAhead ()
         }
       }
 
+      next_file_name_ = *pcd_iterator_;
       if (++pcd_iterator_ == pcd_files_.end () && repeat_)
         pcd_iterator_ = pcd_files_.begin ();
     }
@@ -288,7 +294,7 @@ pcl::PCDGrabberBase::PCDGrabberImpl::trigger ()
 {
   boost::mutex::scoped_lock read_ahead_lock(read_ahead_mutex_);
   if (valid_)
-    grabber_.publish (next_cloud_,origin_,orientation_);
+    grabber_.publish (next_cloud_,origin_,orientation_, next_file_name_);
 
   // use remaining time, if there is time left!
   readAhead ();