stereo_grabber.h

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#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 override;
 
  /** \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