65 return (scan.points.size ());
68 void ConvertToCloud(
const string& fixed_frame_id,
const sensor_msgs::PointCloud& scan_in, sensor_msgs::PointCloud& cloud_out)
70 tf_->transformPointCloud(fixed_frame_id, scan_in, cloud_out) ;
82 int main(
int argc,
char **argv)
84 ros::init(argc, argv,
"point_cloud_assembler");
86 pc_assembler.
start(
"cloud");
int main(int argc, char **argv)
unsigned int GetPointsInScan(const sensor_msgs::PointCloud &scan)
Returns the number of points in the current scan.
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROSCPP_DECL void spin(Spinner &spinner)
void start(const std::string &in_topic_name)
Tells the assembler to start listening to input data It is possible that a derived class needs to ini...
void ConvertToCloud(const string &fixed_frame_id, const sensor_msgs::PointCloud &scan_in, sensor_msgs::PointCloud &cloud_out)
Maintains a history of incremental point clouds (usually from laser scans) and generates a point clou...
Maintains a history of point clouds and generates an aggregate point cloud upon request.