rapid::RecordedPointCloudCamera Class Reference

A simulated camera that loads data from a bag file. More...

#include <recorded_point_cloud_camera.h>

Inheritance diagram for rapid::RecordedPointCloudCamera:

Public Member Functions
	RecordedPointCloudCamera ()
void	LoadBag (const std::string &path)
	Loads a bag file saved by rapid_perception's save_cloud. More...
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	cloud () const
	Returns the most recent point cloud from the camera. More...
geometry_msgs::TransformStamped	camera_pose () const
	Returns the camera pose relative to the base frame. More...
Public Member Functions inherited from rapid::PointCloudCameraInterface
virtual	~PointCloudCameraInterface ()

Detailed Description

A simulated camera that loads data from a bag file.

Specifically, the bag file should be in the format output by rapid_perception's save_cloud executable:

• One sensor_msgs/PointCloud2 on the "/cloud" topic.
• One geometry_msgs/TransformStamped on the "/camera_in_base" topic.

Usage:

#include "rapid_robot/recorded_point_cloud_camera.h"

RecordedPointCloudCamera sim_cam;
sim_cam.LoadBag(argv[1]);
sim_cam.cloud();
sim_cam.LoadBag(argv[2]);
sim_cam.cloud();

Definition at line 24 of file recorded_point_cloud_camera.h.

Constructor & Destructor Documentation

rapid::RecordedPointCloudCamera::RecordedPointCloudCamera

(

)

Member Function Documentation

geometry_msgs::TransformStamped rapid::RecordedPointCloudCamera::camera_pose ( ) const

virtual

Returns the camera pose relative to the base frame.

Returns

The transform describing the camera frame with respect to the base frame.

Implements rapid::PointCloudCameraInterface.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rapid::RecordedPointCloudCamera::cloud ( ) const

virtual

Returns the most recent point cloud from the camera.

Returns

Returns the most recent point cloud from the camera.

Implements rapid::PointCloudCameraInterface.

void rapid::RecordedPointCloudCamera::LoadBag

(

const std::string &

path

)

Loads a bag file saved by rapid_perception's save_cloud.

This method can be called multiple times. Whatever cloud was saved will be returned in the next call to cloud(), and the same with camera_pose().

If there is more than one message on either topic, only the first will be loaded.

Parameters

[in]

path

The file path to the bag file saved by save_cloud.

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The documentation for this class was generated from the following file:

• rapid_robot/include/rapid_robot/recorded_point_cloud_camera.h