point_cloud2_assembler.cpp

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#include "laser_assembler/base_assembler.h"
#include <sensor_msgs/point_cloud_conversion.h>
 
using namespace std ;
 
namespace laser_assembler
{
 
class PointCloud2Assembler : public BaseAssembler<sensor_msgs::PointCloud2>
{
public:
  PointCloud2Assembler() : BaseAssembler<sensor_msgs::PointCloud2>("max_clouds")
  {
 
  }
 
  ~PointCloud2Assembler()
  {
 
  }
 
  unsigned int GetPointsInScan(const sensor_msgs::PointCloud2& scan)
  {
    return (scan.width * scan.height);
  }
 
  void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::PointCloud2& scan_in, sensor_msgs::PointCloud& cloud_out)
  {
    sensor_msgs::PointCloud cloud_in;
    sensor_msgs::convertPointCloud2ToPointCloud(scan_in, cloud_in);
    tf_->transformPointCloud(fixed_frame_id, cloud_in, cloud_out) ;
    return ;
  }
 
private:
 
};
 
}
 
using namespace laser_assembler ;
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "point_cloud_assembler");
  PointCloud2Assembler pc_assembler;
  pc_assembler.start("cloud");
  ros::spin();
 
  return 0;
}