pcd_io.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2009, Willow Garage, Inc.
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00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
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00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034  * $Id: pcd_io.h 35054 2011-01-03 21:16:49Z rusu $
00035  *
00036  */
00037 
00038 #ifndef PCL_ROS_IO_PCD_IO_H_
00039 #define PCL_ROS_IO_PCD_IO_H_
00040 
00041 #include <pcl/io/pcd_io.h>
00042 #include "pcl_ros/pcl_nodelet.h"
00043 
00044 namespace pcl_ros
00045 {
00047 
00050   class PCDReader : public PCLNodelet
00051   {
00052     public:
00053       typedef sensor_msgs::PointCloud2 PointCloud2;
00054       typedef PointCloud2::Ptr PointCloud2Ptr;
00055       typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
00056 
00058       PCDReader () : publish_rate_ (0), tf_frame_ ("/base_link") {};
00059 
00060       virtual void onInit ();
00061 
00065       inline void setPublishRate (double publish_rate) { publish_rate_ = publish_rate; }
00066 
00068       inline double getPublishRate () { return (publish_rate_); }
00069 
00073       inline void setTFframe (std::string tf_frame) { tf_frame_ = tf_frame; }
00074 
00076       inline std::string getTFframe () { return (tf_frame_); }
00077 
00078     protected:
00080       double publish_rate_;
00081 
00083       std::string tf_frame_;
00084 
00086       std::string file_name_;
00087 
00089       PointCloud2Ptr output_;
00090 
00091     private:
00093       pcl::PCDReader impl_;
00094     public:
00095       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00096   };
00097 
00099 
00102   class PCDWriter : public PCLNodelet
00103   {
00104     public:
00105       PCDWriter () : file_name_ (""), binary_mode_ (true) {}
00106 
00107       typedef sensor_msgs::PointCloud2 PointCloud2;
00108       typedef PointCloud2::Ptr PointCloud2Ptr;
00109       typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
00110 
00111       virtual void onInit ();
00112       void input_callback (const PointCloud2ConstPtr &cloud);
00113 
00115       ros::Subscriber sub_input_;
00116 
00117     protected:
00119       std::string file_name_;
00120 
00122       bool binary_mode_;
00123 
00124     private:
00126       pcl::PCDWriter impl_;
00127     public:
00128       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00129   };
00130 }
00131 
00132 #endif  //#ifndef PCL_ROS_IO_PCD_IO_H_
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:41