pcl_ros::PCDReader Class Reference

Point Cloud Data (PCD) file format reader. More...

#include <pcd_io.h>

Inheritance diagram for pcl_ros::PCDReader:

List of all members.

Public Types
typedef sensor_msgs::PointCloud2	PointCloud2
typedef PointCloud2::ConstPtr	PointCloud2ConstPtr
typedef PointCloud2::Ptr	PointCloud2Ptr
Public Member Functions
double	getPublishRate ()
	Get the publishing rate in seconds.
std::string	getTFframe ()
	Get the TF frame the PointCloud is published in.
virtual void	onInit ()
	Nodelet initialization routine. Reads in global parameters used by all nodelets.
	PCDReader ()
	Empty constructor.
void	setPublishRate (double publish_rate)
	Set the publishing rate in seconds.
void	setTFframe (std::string tf_frame)
	Set the TF frame the PointCloud will be published in.
Protected Attributes
std::string	file_name_
	The name of the file that contains the PointCloud data.
PointCloud2Ptr	output_
	The output point cloud dataset containing the points loaded from the file.
double	publish_rate_
	The publishing interval in seconds. Set to 0 to only publish once (default).
std::string	tf_frame_
	The TF frame the data should be published in ("/base_link" by default).
Private Attributes
pcl::PCDReader	impl_
	The PCL implementation used.

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Detailed Description

Point Cloud Data (PCD) file format reader.

Author:

Radu Bogdan Rusu

Definition at line 50 of file pcd_io.h.

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Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl_ros::PCDReader::PointCloud2

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 53 of file pcd_io.h.

typedef PointCloud2::ConstPtr pcl_ros::PCDReader::PointCloud2ConstPtr

Definition at line 55 of file pcd_io.h.

typedef PointCloud2::Ptr pcl_ros::PCDReader::PointCloud2Ptr

Definition at line 54 of file pcd_io.h.

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Constructor & Destructor Documentation

pcl_ros::PCDReader::PCDReader

(

)

[inline]

Empty constructor.

Definition at line 58 of file pcd_io.h.

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Member Function Documentation

double pcl_ros::PCDReader::getPublishRate

(

)

[inline]

Get the publishing rate in seconds.

Definition at line 68 of file pcd_io.h.

std::string pcl_ros::PCDReader::getTFframe

(

)

[inline]

Get the TF frame the PointCloud is published in.

Definition at line 76 of file pcd_io.h.

void pcl_ros::PCDReader::onInit

(

)

[virtual]

Nodelet initialization routine. Reads in global parameters used by all nodelets.

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 43 of file pcd_io.cpp.

void pcl_ros::PCDReader::setPublishRate

(

double

publish_rate

)

[inline]

Set the publishing rate in seconds.

Parameters:

publish_rate

the publishing rate in seconds

Definition at line 65 of file pcd_io.h.

void pcl_ros::PCDReader::setTFframe

(

std::string

tf_frame

)

[inline]

Set the TF frame the PointCloud will be published in.

Parameters:

tf_frame

the TF frame the PointCloud will be published in

Definition at line 73 of file pcd_io.h.

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Member Data Documentation

std::string pcl_ros::PCDReader::file_name_ [protected]

The name of the file that contains the PointCloud data.

Definition at line 86 of file pcd_io.h.

pcl::PCDReader pcl_ros::PCDReader::impl_ [private]

The PCL implementation used.

Definition at line 93 of file pcd_io.h.

PointCloud2Ptr pcl_ros::PCDReader::output_ [protected]

The output point cloud dataset containing the points loaded from the file.

Definition at line 89 of file pcd_io.h.

double pcl_ros::PCDReader::publish_rate_ [protected]

The publishing interval in seconds. Set to 0 to only publish once (default).

Definition at line 80 of file pcd_io.h.

std::string pcl_ros::PCDReader::tf_frame_ [protected]

The TF frame the data should be published in ("/base_link" by default).

Definition at line 83 of file pcd_io.h.

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The documentation for this class was generated from the following files:

• pcd_io.h
• pcd_io.cpp