Program Listing for File pcd_io.hpp

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 * $Id: pcd_io.h 35054 2011-01-03 21:16:49Z rusu $
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#ifndef PCL_ROS__IO__PCD_IO_HPP_
#define PCL_ROS__IO__PCD_IO_HPP_

#include <pcl/io/pcd_io.h>
#include <string>
#include "pcl_ros/pcl_nodelet.hpp"

namespace pcl_ros
{

class PCDReader : public PCLNodelet
{
public:
  typedef sensor_msgs::PointCloud2 PointCloud2;
  typedef PointCloud2::Ptr PointCloud2Ptr;
  typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

  PCDReader()
  : publish_rate_(0), tf_frame_("/base_link") {}

  virtual void onInit();

  inline void setPublishRate(double publish_rate) {publish_rate_ = publish_rate;}

  inline double getPublishRate() {return publish_rate_;}

  inline void setTFframe(std::string tf_frame) {tf_frame_ = tf_frame;}

  inline std::string getTFframe() {return tf_frame_;}

protected:
  double publish_rate_;

  std::string tf_frame_;

  std::string file_name_;

  PointCloud2Ptr output_;

private:
  pcl::PCDReader impl_;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};


class PCDWriter : public PCLNodelet
{
public:
  PCDWriter()
  : file_name_(""), binary_mode_(true) {}

  typedef sensor_msgs::PointCloud2 PointCloud2;
  typedef PointCloud2::Ptr PointCloud2Ptr;
  typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

  virtual void onInit();
  void input_callback(const PointCloud2ConstPtr & cloud);

  ros::Subscriber sub_input_;

protected:
  std::string file_name_;

  bool binary_mode_;

private:
  pcl::PCDWriter impl_;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}  // namespace pcl_ros

#endif  // PCL_ROS__IO__PCD_IO_HPP_