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Added callback signal for filename of grabbed pcd file. #1354

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merged 1 commit into from
Oct 7, 2015
+15 −4
Merged

Added callback signal for filename of grabbed pcd file. #1354

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11 changes: 8 additions & 3 deletions io/include/pcl/io/pcd_grabber.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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_;
Expand All @@ -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>&)> ();
Expand All @@ -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>&)> ();
Expand Down Expand Up @@ -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
Expand Down
8 changes: 7 additions & 1 deletion io/src/pcd_grabber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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)
Expand All @@ -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 ();
}

Expand All @@ -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)
Expand All @@ -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 ();
}

Expand Down Expand Up @@ -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 ();
}
Expand Down Expand Up @@ -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 ();
Expand Down