Program Listing for File draco_subscriber.hpp
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/*
* Copyright (c) 2023, Czech Technical University in Prague
* Copyright (c) 2019, paplhjak
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#ifndef DRACO_POINT_CLOUD_TRANSPORT__DRACO_SUBSCRIBER_HPP_
#define DRACO_POINT_CLOUD_TRANSPORT__DRACO_SUBSCRIBER_HPP_
#include <draco/point_cloud/point_cloud.h>
#include <string>
#include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>
#include <point_cloud_transport/simple_subscriber_plugin.hpp>
#include <point_cloud_transport/transport_hints.hpp>
namespace draco_point_cloud_transport
{
class DracoSubscriber
: public point_cloud_transport::SimpleSubscriberPlugin<
point_cloud_interfaces::msg::CompressedPointCloud2>
{
public:
std::string getTransportName() const override;
void declareParameters() override;
std::string getDataType() const override
{
return "point_cloud_interfaces/msg/CompressedPointCloud2";
}
DecodeResult decodeTyped(const point_cloud_interfaces::msg::CompressedPointCloud2 & compressed)
const override;
struct DracoSubscriberConfig
{
bool SkipDequantizationPOSITION = false;
bool SkipDequantizationNORMAL = false;
bool SkipDequantizationCOLOR = false;
bool SkipDequantizationTEX_COORD = false;
bool SkipDequantizationGENERIC = false;
};
DracoSubscriberConfig config_;
};
} // namespace draco_point_cloud_transport
#endif // DRACO_POINT_CLOUD_TRANSPORT__DRACO_SUBSCRIBER_HPP_