00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: bag_io.h 35471 2011-01-25 06:50:00Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_ROS_IO_BAG_IO_H_ 00039 #define PCL_ROS_IO_BAG_IO_H_ 00040 00041 #include <pcl_ros/pcl_nodelet.h> 00042 #include <sensor_msgs/PointCloud2.h> 00043 #include <rosbag/bag.h> 00044 #include <rosbag/view.h> 00045 00046 namespace pcl_ros 00047 { 00049 00052 class BAGReader: public nodelet::Nodelet 00053 { 00054 public: 00055 typedef sensor_msgs::PointCloud2 PointCloud; 00056 typedef PointCloud::Ptr PointCloudPtr; 00057 typedef PointCloud::ConstPtr PointCloudConstPtr; 00058 00060 BAGReader () : publish_rate_ (0), output_ ()/*, cloud_received_ (false)*/ {}; 00061 00065 inline void setPublishRate (double publish_rate) { publish_rate_ = publish_rate; } 00066 00068 inline double getPublishRate () { return (publish_rate_); } 00069 00073 inline PointCloudConstPtr 00074 getNextCloud () 00075 { 00076 if (it_ != view_.end ()) 00077 { 00078 output_ = it_->instantiate<sensor_msgs::PointCloud2> (); 00079 ++it_; 00080 } 00081 return (output_); 00082 } 00083 00088 bool open (const std::string &file_name, const std::string &topic_name); 00089 00091 inline void 00092 close () 00093 { 00094 bag_.close (); 00095 } 00096 00098 virtual void onInit (); 00099 00100 private: 00102 double publish_rate_; 00103 00105 rosbag::Bag bag_; 00106 00108 rosbag::View view_; 00109 00111 rosbag::View::iterator it_; 00112 00114 std::string topic_name_; 00115 00117 std::string file_name_; 00118 00120 PointCloudPtr output_; 00121 00123 //bool cloud_received_; 00124 public: 00125 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00126 }; 00127 00128 } 00129 00130 #endif //#ifndef PCL_ROS_IO_BAG_IO_H_