Program Listing for File bag_io.hpp
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* $Id: bag_io.h 35471 2011-01-25 06:50:00Z rusu $
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#ifndef PCL_ROS__IO__BAG_IO_HPP_
#define PCL_ROS__IO__BAG_IO_HPP_
#include <sensor_msgs/PointCloud2.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <string>
#include <pcl_ros/pcl_nodelet.hpp>
namespace pcl_ros
{
class BAGReader : public nodelet::Nodelet
{
public:
typedef sensor_msgs::PointCloud2 PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
BAGReader()
: publish_rate_(0), output_() /*, cloud_received_ (false)*/ {}
inline void setPublishRate(double publish_rate) {publish_rate_ = publish_rate;}
inline double getPublishRate() {return publish_rate_;}
inline PointCloudConstPtr
getNextCloud()
{
if (it_ != view_.end()) {
output_ = it_->instantiate<sensor_msgs::PointCloud2>();
++it_;
}
return output_;
}
bool open(const std::string & file_name, const std::string & topic_name);
inline void
close()
{
bag_.close();
}
virtual void onInit();
private:
double publish_rate_;
rosbag::Bag bag_;
rosbag::View view_;
rosbag::View::iterator it_;
std::string topic_name_;
std::string file_name_;
PointCloudPtr output_;
// bool cloud_received_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace pcl_ros
#endif // PCL_ROS__IO__BAG_IO_HPP_