pointcloud_database_server.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00011  *
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_POINTCLOUD_DATABASE_SERVER_H_
00038 #define JSK_PCL_ROS_POINTCLOUD_DATABASE_SERVER_H_
00039 
00040 #include <pcl_ros/pcl_nodelet.h>
00041 #include <sensor_msgs/PointCloud2.h>
00042 #include <jsk_recognition_msgs/PointsArray.h>
00043 
00044 namespace jsk_pcl_ros
00045 {
00046   class PointCloudData
00047   {
00048   public:
00049     typedef boost::shared_ptr<PointCloudData> Ptr;
00050     PointCloudData(const std::string fname);
00051     virtual ~PointCloudData() { };
00052     virtual pcl::PointCloud<pcl::PointXYZRGB>::Ptr
00053     getPointCloud();
00054     virtual sensor_msgs::PointCloud2 
00055     getROSPointCloud(ros::Time stamp);
00056 
00057   protected:
00058     const std::string file_name_;
00059     pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_;
00060   private:
00061   };
00062 
00063   class PointcloudDatabaseServer: public pcl_ros::PCLNodelet
00064   {
00065   public:
00066     virtual ~PointcloudDatabaseServer();
00067   protected:
00068     virtual void onInit();
00069     virtual void timerCallback(const ros::TimerEvent& event);
00070     // virtual void registerPointcloud();
00071     // virtual void removePointcloud();
00072     // virtual void listPointcloud();
00073     ros::Publisher pub_points_;
00074     ros::Timer timer_;
00075     std::vector<PointCloudData::Ptr> point_clouds_;
00076 
00077   private:
00078   };
00079 }
00080 
00081 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:48