transform.h
Go to the documentation of this file.00001 /* -*- mode: C++ -*- */ 00002 /* 00003 * Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin 00004 * Copyright (C) 2011 Jesse Vera 00005 * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin 00006 * License: Modified BSD Software License Agreement 00007 * 00008 * $Id: transform.h 2225 2012-03-27 15:37:00Z jack.oquin $ 00009 */ 00010 00018 #ifndef _VELODYNE_POINTCLOUD_TRANSFORM_H_ 00019 #define _VELODYNE_POINTCLOUD_TRANSFORM_H_ 1 00020 00021 #include <ros/ros.h> 00022 #include "tf/message_filter.h" 00023 #include "message_filters/subscriber.h" 00024 #include <sensor_msgs/PointCloud2.h> 00025 00026 #include <velodyne_pointcloud/rawdata.h> 00027 #include <velodyne_pointcloud/point_types.h> 00028 00029 // include template implementations to transform a custom point cloud 00030 #include <pcl_ros/impl/transforms.hpp> 00031 00033 typedef velodyne_rawdata::VPoint VPoint; 00034 typedef velodyne_rawdata::VPointCloud VPointCloud; 00035 00036 // instantiate template for transforming a VPointCloud 00037 template bool 00038 pcl_ros::transformPointCloud<VPoint>(const std::string &, 00039 const VPointCloud &, 00040 VPointCloud &, 00041 const tf::TransformListener &); 00042 00043 namespace velodyne_pointcloud 00044 { 00045 class Transform 00046 { 00047 public: 00048 00049 Transform(ros::NodeHandle node, ros::NodeHandle private_nh); 00050 ~Transform() {} 00051 00052 private: 00053 00054 void processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg); 00055 00056 boost::shared_ptr<velodyne_rawdata::RawData> data_; 00057 message_filters::Subscriber<velodyne_msgs::VelodyneScan> velodyne_scan_; 00058 tf::MessageFilter<velodyne_msgs::VelodyneScan> *tf_filter_; 00059 ros::Publisher output_; 00060 tf::TransformListener listener_; 00061 00063 typedef struct { 00064 std::string frame_id; 00065 } Config; 00066 Config config_; 00067 00068 // Point cloud buffers for collecting points within a packet. The 00069 // inPc_ and tfPc_ are class members only to avoid reallocation on 00070 // every message. 00071 VPointCloud inPc_; 00072 VPointCloud tfPc_; 00073 }; 00074 00075 } // namespace velodyne_pointcloud 00076 00077 #endif // _VELODYNE_POINTCLOUD_TRANSFORM_H_