420f5b032b
Collection of hand-made changes to make ament_cpplint pass consisting of: - whitespace between comments - line length - header ordering - include guard formats - remove a couple `using namespace std;` - using c++ casts instead of c-style casts Signed-off-by: Sean Kelly <sean@seankelly.dev>
138 lines
4.6 KiB
C++
138 lines
4.6 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: pcd_io.h 35054 2011-01-03 21:16:49Z rusu $
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*
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*/
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#ifndef PCL_ROS__IO__PCD_IO_HPP_
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#define PCL_ROS__IO__PCD_IO_HPP_
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#include <pcl/io/pcd_io.h>
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#include <string>
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#include "pcl_ros/pcl_nodelet.hpp"
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namespace pcl_ros
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{
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief Point Cloud Data (PCD) file format reader.
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* \author Radu Bogdan Rusu
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*/
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class PCDReader : public PCLNodelet
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{
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public:
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typedef sensor_msgs::PointCloud2 PointCloud2;
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typedef PointCloud2::Ptr PointCloud2Ptr;
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typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
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/** \brief Empty constructor. */
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PCDReader()
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: publish_rate_(0), tf_frame_("/base_link") {}
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virtual void onInit();
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/** \brief Set the publishing rate in seconds.
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* \param publish_rate the publishing rate in seconds
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*/
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inline void setPublishRate(double publish_rate) {publish_rate_ = publish_rate;}
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/** \brief Get the publishing rate in seconds. */
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inline double getPublishRate() {return publish_rate_;}
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/** \brief Set the TF frame the PointCloud will be published in.
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* \param tf_frame the TF frame the PointCloud will be published in
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*/
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inline void setTFframe(std::string tf_frame) {tf_frame_ = tf_frame;}
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/** \brief Get the TF frame the PointCloud is published in. */
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inline std::string getTFframe() {return tf_frame_;}
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protected:
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/** \brief The publishing interval in seconds. Set to 0 to only publish once (default). */
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double publish_rate_;
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/** \brief The TF frame the data should be published in ("/base_link" by default). */
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std::string tf_frame_;
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/** \brief The name of the file that contains the PointCloud data. */
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std::string file_name_;
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/** \brief The output point cloud dataset containing the points loaded from the file. */
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PointCloud2Ptr output_;
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private:
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/** \brief The PCL implementation used. */
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pcl::PCDReader impl_;
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief Point Cloud Data (PCD) file format writer.
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* \author Radu Bogdan Rusu
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*/
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class PCDWriter : public PCLNodelet
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{
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public:
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PCDWriter()
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: file_name_(""), binary_mode_(true) {}
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typedef sensor_msgs::PointCloud2 PointCloud2;
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typedef PointCloud2::Ptr PointCloud2Ptr;
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typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
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virtual void onInit();
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void input_callback(const PointCloud2ConstPtr & cloud);
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/** \brief The input PointCloud subscriber. */
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ros::Subscriber sub_input_;
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protected:
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/** \brief The name of the file that contains the PointCloud data. */
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std::string file_name_;
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/** \brief Set to true if the output files should be saved in binary mode (true). */
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bool binary_mode_;
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private:
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/** \brief The PCL implementation used. */
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pcl::PCDWriter impl_;
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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} // namespace pcl_ros
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#endif // PCL_ROS__IO__PCD_IO_HPP_
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