00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 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 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 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_