Point Cloud Data (PCD) file format reader. More...
#include <pcd_io.h>
Public Types | |
typedef sensor_msgs::PointCloud2 | PointCloud2 |
typedef PointCloud2::ConstPtr | PointCloud2ConstPtr |
typedef PointCloud2::Ptr | PointCloud2Ptr |
Public Types inherited from pcl_ros::PCLNodelet | |
typedef boost::shared_ptr< const std::vector< int > > | IndicesConstPtr |
typedef boost::shared_ptr< std::vector< int > > | IndicesPtr |
typedef pcl_msgs::ModelCoefficients | ModelCoefficients |
typedef ModelCoefficients::ConstPtr | ModelCoefficientsConstPtr |
typedef ModelCoefficients::Ptr | ModelCoefficientsPtr |
typedef pcl::PointCloud< pcl::PointXYZ > | PointCloud |
typedef sensor_msgs::PointCloud2 | PointCloud2 |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef PointCloud::Ptr | PointCloudPtr |
typedef pcl_msgs::PointIndices | PointIndices |
typedef PointIndices::ConstPtr | PointIndicesConstPtr |
typedef PointIndices::Ptr | PointIndicesPtr |
Public Member Functions | |
double | getPublishRate () |
Get the publishing rate in seconds. More... | |
std::string | getTFframe () |
Get the TF frame the PointCloud is published in. More... | |
virtual void | onInit () |
Nodelet initialization routine. Reads in global parameters used by all nodelets. More... | |
PCDReader () | |
Empty constructor. More... | |
void | setPublishRate (double publish_rate) |
Set the publishing rate in seconds. More... | |
void | setTFframe (std::string tf_frame) |
Set the TF frame the PointCloud will be published in. More... | |
Public Member Functions inherited from pcl_ros::PCLNodelet | |
PCLNodelet () | |
Empty constructor. More... | |
Public Member Functions inherited from nodelet_topic_tools::NodeletLazy | |
NodeletLazy () | |
Public Member Functions inherited from nodelet::Nodelet | |
void | init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL) |
Nodelet () | |
virtual | ~Nodelet () |
Protected Attributes | |
std::string | file_name_ |
The name of the file that contains the PointCloud data. More... | |
PointCloud2Ptr | output_ |
The output point cloud dataset containing the points loaded from the file. More... | |
double | publish_rate_ |
The publishing interval in seconds. Set to 0 to only publish once (default). More... | |
std::string | tf_frame_ |
The TF frame the data should be published in ("/base_link" by default). More... | |
Protected Attributes inherited from pcl_ros::PCLNodelet | |
bool | approximate_sync_ |
True if we use an approximate time synchronizer versus an exact one (false by default). More... | |
bool | latched_indices_ |
Set to true if the indices topic is latched. More... | |
int | max_queue_size_ |
The maximum queue size (default: 3). More... | |
ros::Publisher | pub_output_ |
The output PointCloud publisher. More... | |
message_filters::Subscriber< PointIndices > | sub_indices_filter_ |
The message filter subscriber for PointIndices. More... | |
message_filters::Subscriber< PointCloud > | sub_input_filter_ |
The message filter subscriber for PointCloud2. More... | |
tf::TransformListener | tf_listener_ |
TF listener object. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
Protected Attributes inherited from nodelet_topic_tools::NodeletLazy | |
boost::mutex | connection_mutex_ |
ConnectionStatus | connection_status_ |
bool | ever_subscribed_ |
bool | lazy_ |
boost::shared_ptr< ros::NodeHandle > | nh_ |
boost::shared_ptr< ros::NodeHandle > | pnh_ |
std::vector< ros::Publisher > | publishers_ |
ros::WallTimer | timer_ever_subscribed_ |
bool | verbose_connection_ |
Private Attributes | |
pcl::PCDReader | impl_ |
The PCL implementation used. More... | |
Additional Inherited Members | |
Protected Member Functions inherited from pcl_ros::PCLNodelet | |
bool | isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name="input") |
Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More... | |
bool | isValid (const PointCloudConstPtr &cloud, const std::string &topic_name="input") |
Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More... | |
bool | isValid (const PointIndicesConstPtr &indices, const std::string &topic_name="indices") |
Test whether a given PointIndices message is "valid" (i.e., has values). More... | |
bool | isValid (const ModelCoefficientsConstPtr &model, const std::string &topic_name="model") |
Test whether a given ModelCoefficients message is "valid" (i.e., has values). More... | |
virtual void | subscribe () |
Lazy transport subscribe/unsubscribe routine. It is optional for backward compatibility. More... | |
virtual void | unsubscribe () |
Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy | |
ros::Publisher | advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false) |
virtual void | connectionCallback (const ros::SingleSubscriberPublisher &pub) |
virtual void | onInitPostProcess () |
virtual void | warnNeverSubscribedCallback (const ros::WallTimerEvent &event) |
Protected Member Functions inherited from nodelet::Nodelet | |
ros::CallbackQueueInterface & | getMTCallbackQueue () const |
ros::NodeHandle & | getMTNodeHandle () const |
ros::NodeHandle & | getMTPrivateNodeHandle () const |
const V_string & | getMyArgv () const |
const std::string & | getName () const |
ros::NodeHandle & | getNodeHandle () const |
ros::NodeHandle & | getPrivateNodeHandle () const |
const M_string & | getRemappingArgs () const |
ros::CallbackQueueInterface & | getSTCallbackQueue () const |
std::string | getSuffixedName (const std::string &suffix) const |
typedef sensor_msgs::PointCloud2 pcl_ros::PCDReader::PointCloud2 |
typedef PointCloud2::ConstPtr pcl_ros::PCDReader::PointCloud2ConstPtr |
typedef PointCloud2::Ptr pcl_ros::PCDReader::PointCloud2Ptr |
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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.
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