pcd_io.h

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/*
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 *  Copyright (c) 2009, Willow Garage, Inc.
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 * $Id: pcd_io.h 35054 2011-01-03 21:16:49Z rusu $
 *
 */
 
#ifndef PCL_ROS_IO_PCD_IO_H_
#define PCL_ROS_IO_PCD_IO_H_
 
#include <pcl/io/pcd_io.h>
#include "pcl_ros/pcl_nodelet.h"
 
namespace pcl_ros
{
 
  class PCDReader : public PCLNodelet
  {
    public:
      typedef sensor_msgs::PointCloud2 PointCloud2;
      typedef PointCloud2::Ptr PointCloud2Ptr;
      typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
 
      PCDReader () : publish_rate_ (0), tf_frame_ ("/base_link") {};
 
      virtual void onInit ();
 
      inline void setPublishRate (double publish_rate) { publish_rate_ = publish_rate; }
 
      inline double getPublishRate () { return (publish_rate_); }
 
      inline void setTFframe (std::string tf_frame) { tf_frame_ = tf_frame; }
 
      inline std::string getTFframe () { return (tf_frame_); }
 
    protected:
      double publish_rate_;
 
      std::string tf_frame_;
 
      std::string file_name_;
 
      PointCloud2Ptr output_;
 
    private:
      pcl::PCDReader impl_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
 
 
  class PCDWriter : public PCLNodelet
  {
    public:
      PCDWriter () : file_name_ (""), binary_mode_ (true) {}
 
      typedef sensor_msgs::PointCloud2 PointCloud2;
      typedef PointCloud2::Ptr PointCloud2Ptr;
      typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
 
      virtual void onInit ();
      void input_callback (const PointCloud2ConstPtr &cloud);
 
      ros::Subscriber sub_input_;
 
    protected:
      std::string file_name_;
 
      bool binary_mode_;
 
    private:
      pcl::PCDWriter impl_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}
 
#endif  //#ifndef PCL_ROS_IO_PCD_IO_H_