bag_io.h
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00001 /*
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00010  *
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00019  *     from this software without specific prior written permission.
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034  * $Id: bag_io.h 35471 2011-01-25 06:50:00Z rusu $
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00036  */
00037 
00038 #ifndef PCL_ROS_IO_BAG_IO_H_
00039 #define PCL_ROS_IO_BAG_IO_H_
00040 
00041 #include <pcl_ros/pcl_nodelet.h>
00042 #include <sensor_msgs/PointCloud2.h>
00043 #include <rosbag/bag.h>
00044 #include <rosbag/view.h>
00045 
00046 namespace pcl_ros
00047 {
00049 
00052   class BAGReader: public nodelet::Nodelet
00053   {
00054     public:
00055       typedef sensor_msgs::PointCloud2 PointCloud;
00056       typedef PointCloud::Ptr PointCloudPtr;
00057       typedef PointCloud::ConstPtr PointCloudConstPtr;
00058 
00060       BAGReader () : publish_rate_ (0), output_ ()/*, cloud_received_ (false)*/ {};
00061 
00065       inline void setPublishRate (double publish_rate) { publish_rate_ = publish_rate; }
00066 
00068       inline double getPublishRate () { return (publish_rate_); }
00069 
00073       inline PointCloudConstPtr
00074         getNextCloud ()
00075       {
00076         if (it_ != view_.end ())
00077         {
00078           output_ = it_->instantiate<sensor_msgs::PointCloud2> ();
00079           ++it_;
00080         }
00081         return (output_);
00082       }
00083 
00088       bool open (const std::string &file_name, const std::string &topic_name);
00089 
00091       inline void 
00092         close ()
00093       {
00094         bag_.close ();
00095       }
00096 
00098       virtual void onInit ();
00099 
00100     private:
00102       double publish_rate_;
00103 
00105       rosbag::Bag bag_;
00106 
00108       rosbag::View view_;
00109 
00111       rosbag::View::iterator it_;
00112 
00114       std::string topic_name_;
00115 
00117       std::string file_name_;
00118 
00120       PointCloudPtr output_;
00121 
00123       //bool cloud_received_;
00124     public:
00125       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00126   };
00127 
00128 }
00129 
00130 #endif  //#ifndef PCL_ROS_IO_BAG_IO_H_


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Aug 26 2015 15:25:30