pcd_grabber.h

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#include "pcl/pcl_config.h"

#ifndef __PCL_IO_PCD_GRABBER__
#define __PCL_IO_PCD_GRABBER__

#include <pcl/io/grabber.h>
#include <pcl/common/time_trigger.h>
#include <string>
#include <vector>
#include <pcl/ros/conversions.h>

namespace pcl
{
  class PCL_EXPORTS PCDGrabberBase : public Grabber
  {
    public:
      PCDGrabberBase (const std::string& pcd_file, float frames_per_second, bool repeat);

      PCDGrabberBase (const std::vector<std::string>& pcd_files, float frames_per_second, bool repeat);
      virtual ~PCDGrabberBase () throw ();
      virtual void start ();
      virtual void stop ();
      virtual void trigger ();
      virtual bool isRunning () const;
      virtual std::string getName () const;
      virtual void rewind ();

      virtual float getFramesPerSecond () const;

      bool isRepeatOn () const;

    private:
      virtual void publish (const sensor_msgs::PointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const = 0;

      // to separate and hide the implementation from interface: PIMPL
      struct PCDGrabberImpl;
      PCDGrabberImpl* impl_;
  };

  template <typename T> class PointCloud;
  //class sensor_msgs::PointCloud2;
  template <typename PointT> class PCDGrabber : public PCDGrabberBase
  {
    public:
      PCDGrabber (const std::string& pcd_path, float frames_per_second = 0, bool repeat = false);
      PCDGrabber (const std::vector<std::string>& pcd_files, float frames_per_second = 0, bool repeat = false);
    protected:
      virtual void publish (const sensor_msgs::PointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const;
      boost::signals2::signal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>* signal_;
  };

  template<typename PointT>
  PCDGrabber<PointT>::PCDGrabber (const std::string& pcd_path, float frames_per_second, bool repeat)
  : PCDGrabberBase ( pcd_path, frames_per_second, repeat)
  {
    signal_ = createSignal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>();
  }

  template<typename PointT>
  PCDGrabber<PointT>::PCDGrabber (const std::vector<std::string>& pcd_files, float frames_per_second, bool repeat)
  : PCDGrabberBase ( pcd_files, frames_per_second, repeat)
  {
    signal_ = createSignal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>();
  }

  template<typename PointT>
  void PCDGrabber<PointT>::publish (const sensor_msgs::PointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const
  {
    typename pcl::PointCloud<PointT>::Ptr cloud( new pcl::PointCloud<PointT> () );
    pcl::fromROSMsg (blob, *cloud);
    cloud->sensor_origin_ = origin;
    cloud->sensor_orientation_ = orientation;

    signal_->operator () (cloud);
  }
}
#endif