bag_io.h

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/*
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 * $Id: bag_io.h 35471 2011-01-25 06:50:00Z rusu $
 *
 */
 
#ifndef PCL_ROS_IO_BAG_IO_H_
#define PCL_ROS_IO_BAG_IO_H_
 
#include <nodelet/nodelet.h>
#include <Eigen/Core>
#include <sensor_msgs/PointCloud2.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
 
namespace pcl_ros
{
 
  class BAGReader: public nodelet::Nodelet
  {
    public:
      typedef sensor_msgs::PointCloud2 PointCloud;
      typedef PointCloud::Ptr PointCloudPtr;
      typedef PointCloud::ConstPtr PointCloudConstPtr;
 
      BAGReader () : publish_rate_ (0), output_ ()/*, cloud_received_ (false)*/ {};
 
      inline void setPublishRate (double publish_rate) { publish_rate_ = publish_rate; }
 
      inline double getPublishRate () { return (publish_rate_); }
 
      inline PointCloudConstPtr
        getNextCloud ()
      {
        if (it_ != view_.end ())
        {
          output_ = it_->instantiate<sensor_msgs::PointCloud2> ();
          ++it_;
        }
        return (output_);
      }
 
      bool open (const std::string &file_name, const std::string &topic_name);
 
      inline void 
        close ()
      {
        bag_.close ();
      }
 
      virtual void onInit ();
 
    private:
      double publish_rate_;
 
      rosbag::Bag bag_;
 
      rosbag::View view_;
 
      rosbag::View::iterator it_;
 
      std::string topic_name_;
 
      std::string file_name_;
 
      PointCloudPtr output_;
 
      //bool cloud_received_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
 
}
 
#endif  //#ifndef PCL_ROS_IO_BAG_IO_H_