pcl_ros::BAGReader Class Reference

BAG PointCloud file format reader. More...

#include <bag_io.h>

Inheritance diagram for pcl_ros::BAGReader:

[legend]

List of all members.

Public Types
typedef sensor_msgs::PointCloud2	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Public Member Functions
	BAGReader ()
	Empty constructor.
void	close ()
	Close an open BAG file.
PointCloudConstPtr	getNextCloud ()
	Get the next point cloud dataset in the BAG file.
double	getPublishRate ()
	Get the publishing rate in seconds.
virtual void	onInit ()
	Nodelet initialization routine.
bool	open (const std::string &file_name, const std::string &topic_name)
	Open a BAG file for reading and select a specified topic.
void	setPublishRate (double publish_rate)
	Set the publishing rate in seconds.
Private Attributes
rosbag::Bag	bag_
	The BAG object.
std::string	file_name_
	The name of the BAG file that contains the PointCloud data.
rosbag::View::iterator	it_
	The BAG view iterator object.
PointCloudPtr	output_
	The output point cloud dataset containing the points loaded from the file.
double	publish_rate_
	The publishing interval in seconds. Set to 0 to publish once (default).
std::string	topic_name_
	The name of the topic that contains the PointCloud data.
rosbag::View	view_
	The BAG view object.

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Detailed Description

BAG PointCloud file format reader.

Author:

Radu Bogdan Rusu

Definition at line 52 of file bag_io.h.

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Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl_ros::BAGReader::PointCloud

Definition at line 55 of file bag_io.h.

typedef PointCloud::ConstPtr pcl_ros::BAGReader::PointCloudConstPtr

Definition at line 57 of file bag_io.h.

typedef PointCloud::Ptr pcl_ros::BAGReader::PointCloudPtr

Definition at line 56 of file bag_io.h.

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Constructor & Destructor Documentation

pcl_ros::BAGReader::BAGReader

(

)

[inline]

Empty constructor.

Definition at line 60 of file bag_io.h.

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Member Function Documentation

void pcl_ros::BAGReader::close

(

)

[inline]

Close an open BAG file.

Definition at line 92 of file bag_io.h.

PointCloudConstPtr pcl_ros::BAGReader::getNextCloud

(

)

[inline]

Get the next point cloud dataset in the BAG file.

Returns:

the next point cloud dataset as read from the file

Definition at line 74 of file bag_io.h.

double pcl_ros::BAGReader::getPublishRate

(

)

[inline]

Get the publishing rate in seconds.

Definition at line 68 of file bag_io.h.

void pcl_ros::BAGReader::onInit

(

)

[virtual]

Nodelet initialization routine.

Implements nodelet::Nodelet.

Definition at line 64 of file bag_io.cpp.

bool pcl_ros::BAGReader::open	(	const std::string &	file_name,
		const std::string &	topic_name
	)

Open a BAG file for reading and select a specified topic.

Parameters:

	file_name	the BAG file to open
	topic_name	the topic that we want to read data from

Definition at line 43 of file bag_io.cpp.

void pcl_ros::BAGReader::setPublishRate

(

double

publish_rate

)

[inline]

Set the publishing rate in seconds.

Parameters:

publish_rate

the publishing rate in seconds

Definition at line 65 of file bag_io.h.

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Member Data Documentation

rosbag::Bag pcl_ros::BAGReader::bag_ [private]

The BAG object.

Definition at line 105 of file bag_io.h.

std::string pcl_ros::BAGReader::file_name_ [private]

The name of the BAG file that contains the PointCloud data.

Definition at line 117 of file bag_io.h.

rosbag::View::iterator pcl_ros::BAGReader::it_ [private]

The BAG view iterator object.

Definition at line 111 of file bag_io.h.

PointCloudPtr pcl_ros::BAGReader::output_ [private]

The output point cloud dataset containing the points loaded from the file.

Definition at line 120 of file bag_io.h.

double pcl_ros::BAGReader::publish_rate_ [private]

The publishing interval in seconds. Set to 0 to publish once (default).

Definition at line 102 of file bag_io.h.

std::string pcl_ros::BAGReader::topic_name_ [private]

The name of the topic that contains the PointCloud data.

Definition at line 114 of file bag_io.h.

rosbag::View pcl_ros::BAGReader::view_ [private]

The BAG view object.

Definition at line 108 of file bag_io.h.

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The documentation for this class was generated from the following files:

• bag_io.h
• bag_io.cpp