pcl_ros::BAGReader Class Reference

BAG PointCloud file format reader. More...

#include <bag_io.h>

Inheritance diagram for pcl_ros::BAGReader:

Public Types
typedef sensor_msgs::PointCloud2	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr

Public Member Functions
	BAGReader ()
	Empty constructor. More...
void	close ()
	Close an open BAG file. More...
PointCloudConstPtr	getNextCloud ()
	Get the next point cloud dataset in the BAG file. More...
double	getPublishRate ()
	Get the publishing rate in seconds. More...
virtual void	onInit ()
	Nodelet initialization routine. More...
bool	open (const std::string &file_name, const std::string &topic_name)
	Open a BAG file for reading and select a specified topic. More...
void	setPublishRate (double publish_rate)
	Set the publishing rate in seconds. More...
Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
	Nodelet ()
virtual	~Nodelet ()

Private Attributes
rosbag::Bag	bag_
	The BAG object. More...
std::string	file_name_
	The name of the BAG file that contains the PointCloud data. More...
rosbag::View::iterator	it_
	The BAG view iterator object. More...
PointCloudPtr	output_
	The output point cloud dataset containing the points loaded from the file. More...
double	publish_rate_
	The publishing interval in seconds. Set to 0 to publish once (default). More...
std::string	topic_name_
	The name of the topic that contains the PointCloud data. More...
rosbag::View	view_
	The BAG view object. More...

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const
ros::NodeHandle &	getMTNodeHandle () const
ros::NodeHandle &	getMTPrivateNodeHandle () const
const V_string &	getMyArgv () const
const std::string &	getName () const
ros::NodeHandle &	getNodeHandle () const
ros::NodeHandle &	getPrivateNodeHandle () const
const M_string &	getRemappingArgs () const
ros::CallbackQueueInterface &	getSTCallbackQueue () const
std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

BAG PointCloud file format reader.

Author

Radu Bogdan Rusu

Definition at line 52 of file bag_io.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl_ros::BAGReader::PointCloud

Definition at line 55 of file bag_io.h.

typedef PointCloud::ConstPtr pcl_ros::BAGReader::PointCloudConstPtr

Definition at line 57 of file bag_io.h.

typedef PointCloud::Ptr pcl_ros::BAGReader::PointCloudPtr

Definition at line 56 of file bag_io.h.

Constructor & Destructor Documentation

pcl_ros::BAGReader::BAGReader ( )

inline

Empty constructor.

Definition at line 60 of file bag_io.h.

Member Function Documentation

void pcl_ros::BAGReader::close ( )

inline

Close an open BAG file.

Definition at line 92 of file bag_io.h.

PointCloudConstPtr pcl_ros::BAGReader::getNextCloud ( )

inline

Get the next point cloud dataset in the BAG file.

Returns

the next point cloud dataset as read from the file

Definition at line 74 of file bag_io.h.

double pcl_ros::BAGReader::getPublishRate ( )

inline

Get the publishing rate in seconds.

Definition at line 68 of file bag_io.h.

void pcl_ros::BAGReader::onInit ( )

virtual

Nodelet initialization routine.

Implements nodelet::Nodelet.

Definition at line 64 of file bag_io.cpp.

bool pcl_ros::BAGReader::open	(	const std::string &	file_name,
		const std::string &	topic_name
	)

Open a BAG file for reading and select a specified topic.

Parameters

file_name	the BAG file to open
topic_name	the topic that we want to read data from

Definition at line 43 of file bag_io.cpp.

void pcl_ros::BAGReader::setPublishRate ( double  publish_rate )

inline

Set the publishing rate in seconds.

Parameters

publish_rate

the publishing rate in seconds

Definition at line 65 of file bag_io.h.

Member Data Documentation

rosbag::Bag pcl_ros::BAGReader::bag_

private

The BAG object.

Definition at line 105 of file bag_io.h.

std::string pcl_ros::BAGReader::file_name_

private

The name of the BAG file that contains the PointCloud data.

Definition at line 117 of file bag_io.h.

rosbag::View::iterator pcl_ros::BAGReader::it_

private

The BAG view iterator object.

Definition at line 111 of file bag_io.h.

PointCloudPtr pcl_ros::BAGReader::output_

private

The output point cloud dataset containing the points loaded from the file.

Definition at line 120 of file bag_io.h.

double pcl_ros::BAGReader::publish_rate_

private

The publishing interval in seconds. Set to 0 to publish once (default).

Definition at line 102 of file bag_io.h.

std::string pcl_ros::BAGReader::topic_name_

private

The name of the topic that contains the PointCloud data.

Definition at line 114 of file bag_io.h.

rosbag::View pcl_ros::BAGReader::view_

private

The BAG view object.

Definition at line 108 of file bag_io.h.

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The documentation for this class was generated from the following files:

• bag_io.h
• bag_io.cpp