point_cloud2_assembler.cpp
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00034 
00035 
00036 #include "laser_assembler/base_assembler.h"
00037 #include <sensor_msgs/point_cloud_conversion.h>
00038 
00039 using namespace std ;
00040 
00041 namespace laser_assembler
00042 {
00043 
00050 class PointCloud2Assembler : public BaseAssembler<sensor_msgs::PointCloud2>
00051 {
00052 public:
00053   PointCloud2Assembler() : BaseAssembler<sensor_msgs::PointCloud2>("max_clouds")
00054   {
00055 
00056   }
00057 
00058   ~PointCloud2Assembler()
00059   {
00060 
00061   }
00062 
00063   unsigned int GetPointsInScan(const sensor_msgs::PointCloud2& scan)
00064   {
00065     return (scan.width * scan.height);
00066   }
00067 
00068   void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::PointCloud2& scan_in, sensor_msgs::PointCloud& cloud_out)
00069   {
00070     sensor_msgs::PointCloud cloud_in;
00071     sensor_msgs::convertPointCloud2ToPointCloud(scan_in, cloud_in);
00072     tf_->transformPointCloud(fixed_frame_id, cloud_in, cloud_out) ;
00073     return ;
00074   }
00075 
00076 private:
00077 
00078 };
00079 
00080 }
00081 
00082 using namespace laser_assembler ;
00083 
00084 int main(int argc, char **argv)
00085 {
00086   ros::init(argc, argv, "point_cloud_assembler");
00087   PointCloud2Assembler pc_assembler;
00088   pc_assembler.start("cloud");
00089   ros::spin();
00090 
00091   return 0;
00092 }


laser_assembler
Author(s): Vijay Pradeep
autogenerated on Mon Oct 6 2014 01:43:03