Program Listing for File draco_publisher.hpp
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#ifndef DRACO_POINT_CLOUD_TRANSPORT__DRACO_PUBLISHER_HPP_
#define DRACO_POINT_CLOUD_TRANSPORT__DRACO_PUBLISHER_HPP_
#include <draco/point_cloud/point_cloud.h>
#include <memory>
#include <string>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <point_cloud_transport/simple_publisher_plugin.hpp>
#include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>
namespace draco_point_cloud_transport
{
class DracoPublisher
: public point_cloud_transport::SimplePublisherPlugin<
point_cloud_interfaces::msg::CompressedPointCloud2>
{
public:
std::string getTransportName() const override;
void declareParameters(const std::string & base_topic) override;
std::string getDataType() const override
{
return "point_cloud_interfaces/msg/CompressedPointCloud2";
}
TypedEncodeResult encodeTyped(const sensor_msgs::msg::PointCloud2 & raw) const override;
static void registerPositionField(const std::string & field);
static void registerColorField(const std::string & field);
static void registerNormalField(const std::string & field);
private:
tl::expected<std::unique_ptr<draco::PointCloud>, std::string> convertPC2toDraco(
const sensor_msgs::msg::PointCloud2 & PC2, const std::string & topic, bool deduplicate,
bool expert_encoding) const;
class DracoPublisherConfig
{
public:
int encode_speed = 7;
int decode_speed = 7;
int encode_method = 0;
bool deduplicate = true;
bool force_quantization = false;
int quantization_POSITION = 14;
int quantization_NORMAL = 14;
int quantization_COLOR = 14;
int quantization_TEX_COORD = 14;
int quantization_GENERIC = 14;
bool expert_quantization = false;
bool expert_attribute_types = false;
};
DracoPublisherConfig config_;
};
} // namespace draco_point_cloud_transport
#endif // DRACO_POINT_CLOUD_TRANSPORT__DRACO_PUBLISHER_HPP_