transform.h

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/* -*- mode: C++ -*- */
/*
 *  Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
 *  Copyright (C) 2011 Jesse Vera
 *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
 *  License: Modified BSD Software License Agreement
 *
 *  $Id$
 */

#ifndef _VELODYNE_POINTCLOUD_TRANSFORM_H_
#define _VELODYNE_POINTCLOUD_TRANSFORM_H_ 1

#include <ros/ros.h>
#include "tf/message_filter.h"
#include "message_filters/subscriber.h"
#include <sensor_msgs/PointCloud2.h>

#include <velodyne_pointcloud/rawdata.h>
#include <velodyne_pointcloud/point_types.h>

// include template implementations to transform a custom point cloud
#include <pcl_ros/impl/transforms.hpp>

typedef velodyne_rawdata::VPoint VPoint;
typedef velodyne_rawdata::VPointCloud VPointCloud;

// instantiate template for transforming a VPointCloud
template bool
  pcl_ros::transformPointCloud<VPoint>(const std::string &,
                                       const VPointCloud &,
                                       VPointCloud &,
                                       const tf::TransformListener &);

namespace velodyne_pointcloud
{
  class Transform
  {
  public:

    Transform(ros::NodeHandle node, ros::NodeHandle private_nh);
    ~Transform() {}

  private:

    void processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg);

    boost::shared_ptr<velodyne_rawdata::RawData> data_;
    message_filters::Subscriber<velodyne_msgs::VelodyneScan> velodyne_scan_;
    tf::MessageFilter<velodyne_msgs::VelodyneScan> *tf_filter_;
    ros::Publisher output_;
    tf::TransformListener listener_;

    typedef struct {
      std::string frame_id;          
    } Config;
    Config config_;

    // Point cloud buffers for collecting points within a packet.  The
    // inPc_ and tfPc_ are class members only to avoid reallocation on
    // every message.
    VPointCloud inPc_;              
    VPointCloud tfPc_;              
  };

} // namespace velodyne_pointcloud

#endif // _VELODYNE_POINTCLOUD_TRANSFORM_H_