colors.h
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00001 /* -*- mode: C++ -*- */
00002 /*
00003  *  Copyright (C) 2012 Austin Robot Technology
00004  *  License: Modified BSD Software License Agreement
00005  *
00006  *  $Id$
00007  */
00008 
00018 #ifndef _VELODYNE_POINTCLOUD_COLORS_H_
00019 #define _VELODYNE_POINTCLOUD_COLORS_H_
00020 
00021 #include <ros/ros.h>
00022 #include <pcl_ros/point_cloud.h>
00023 #include <pcl/point_types.h>
00024 #include <velodyne_pointcloud/point_types.h>
00025 
00026 namespace velodyne_pointcloud
00027 {
00028   // shorter names for point cloud types in this namespace
00029   typedef velodyne_pointcloud::PointXYZIR VPoint;
00030   typedef pcl::PointCloud<VPoint> VPointCloud;
00031 
00032   class RingColors
00033   {
00034   public:
00035 
00036     RingColors(ros::NodeHandle node, ros::NodeHandle private_nh);
00037     ~RingColors() {}
00038 
00039   private:
00040 
00041     void convertPoints(const VPointCloud::ConstPtr &inMsg);
00042 
00043     ros::Subscriber input_;
00044     ros::Publisher output_;
00045   };
00046 
00047 } // namespace velodyne_pointcloud
00048 
00049 #endif // _VELODYNE_POINTCLOUD_COLORS_H_


velodyne_pointcloud
Author(s): Jack O'Quin, Piyush Khandelwal, Jesse Vera
autogenerated on Fri Jan 3 2014 12:11:12