00001 #include "pointcloud_to_pcd_alg.h" 00002 00003 PointcloudToPcdAlgorithm::PointcloudToPcdAlgorithm(void) 00004 { 00005 } 00006 00007 PointcloudToPcdAlgorithm::~PointcloudToPcdAlgorithm(void) 00008 { 00009 } 00010 00011 void PointcloudToPcdAlgorithm::config_update(Config& new_cfg, uint32_t level) 00012 { 00013 this->lock(); 00014 00015 // save the current configuration 00016 this->config_=new_cfg; 00017 00018 this->unlock(); 00019 } 00020 00021 // PointcloudToPcdAlgorithm Public API 00022 00023 bool PointcloudToPcdAlgorithm::isRunning(const std::string& file_name, const sensor_msgs::PointCloud2::ConstPtr& cloud, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation, const bool binary_mode) 00024 { 00025 pcl::io::savePCDFile ( file_name, *cloud, origin, orientation, binary_mode ); 00026 return true; 00027 } 00028