pcl_tutorials: bag_read.cpp Source File

00001 /*
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00034  * $Id: bag_read.cpp 30899 2010-07-16 04:56:51Z rusu $
00035  *
00036  */
00037 
00046 #include <pcl_ros/io/bag_io.h>
00047 #include <pcl/point_types.h>
00048 
00049 /* ---[ */
00050 int
00051   main (int argc, char** argv)
00052 {
00053   sensor_msgs::PointCloud2ConstPtr cloud_blob, cloud_blob_prev;
00054   pcl::PointCloud<pcl::PointXYZ> cloud;
00055 
00056   pcl_ros::BAGReader reader;
00057   if (!reader.open ("./test_io_bag.bag", "/narrow_stereo_textured/points2"))
00058   {
00059     ROS_ERROR ("Couldn't read file test_io_bag.bag. Try doing a 'make tests' in pcl, or download the file manually from http://pr.willowgarage.com/data/pcl/test_io_bag.bag");
00060     return (-1);
00061   }
00062 
00063   int cnt = 0;
00064   do
00065   {
00066     cloud_blob_prev = cloud_blob;
00067     cloud_blob = reader.getNextCloud ();
00068     if (cloud_blob_prev != cloud_blob)
00069     {
00070       pcl::fromROSMsg (*cloud_blob, cloud);
00071       ROS_INFO ("PointCloud with %d data points and frame %s (%f) received.", (int)cloud.points.size (), cloud.header.frame_id.c_str (), cloud.header.stamp.toSec ()); 
00072       cnt++;
00073     }
00074   }
00075   while (cloud_blob != cloud_blob_prev);
00076 
00077   ROS_INFO ("Total number of PointCloud messages processed: %d", cnt);
00078 
00079   return (0);
00080 }
00081 /* ]--- */