pointcloud_database_server.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_POINTCLOUD_DATABASE_SERVER_H_
#define JSK_PCL_ROS_POINTCLOUD_DATABASE_SERVER_H_
 
#include <pcl_ros/pcl_nodelet.h>
#include <dynamic_reconfigure/server.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/PolygonMesh.h>
#include <jsk_recognition_msgs/PointsArray.h>
#include "jsk_pcl_ros/PointcloudDatabaseServerConfig.h"
 
namespace jsk_pcl_ros
{
  class PointCloudData
  {
  public:
    typedef boost::shared_ptr<PointCloudData> Ptr;
    PointCloudData(const std::string fname);
    virtual ~PointCloudData() { };
    virtual pcl::PointCloud<pcl::PointXYZRGB>::Ptr
    getPointCloud();
    virtual sensor_msgs::PointCloud2 
    getROSPointCloud(ros::Time stamp);
 
  protected:
    const std::string file_name_;
    std::string ext_;
    pcl::PolygonMesh mesh_;
    std::string stem_;
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_;
  private:
  };
 
  class PointcloudDatabaseServer: public pcl_ros::PCLNodelet
  {
  public:
    virtual ~PointcloudDatabaseServer();
    typedef jsk_pcl_ros::PointcloudDatabaseServerConfig Config;
  protected:
    virtual void onInit();
    virtual void timerCallback(const ros::TimerEvent& event);
    virtual void configCallback(Config &config, uint32_t level);
    std::vector<std::string> files_;
    // virtual void registerPointcloud();
    // virtual void removePointcloud();
    // virtual void listPointcloud();
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
    ros::Publisher pub_points_array_;
    ros::Publisher pub_cloud_;
    ros::Timer timer_;
    std::vector<PointCloudData::Ptr> point_clouds_;
    jsk_recognition_msgs::PointsArray array_msg_;
    sensor_msgs::PointCloud2 point_msg_;
 
    double duration_;
    bool use_array_;
 
  private:
  };
}
 
#endif