point_cloud_camera.h

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#ifndef _RAPID_ROBOT_POINT_CLOUD_CAMERA_H_
#define _RAPID_ROBOT_POINT_CLOUD_CAMERA_H_

#include <string>

#include "rapid_robot/camera_interface.h"
#include "tf/transform_listener.h"

namespace rapid {
class PointCloudCamera : public PointCloudCameraInterface {
 public:
  explicit PointCloudCamera(const std::string& topic,
                            const std::string& base_link);

  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud() const;

  geometry_msgs::TransformStamped camera_pose() const;

 private:
  std::string topic_;
  mutable std::string base_link_;
  tf::TransformListener tf_listener_;

  mutable std::string camera_frame_id_;
};
}  // namespace rapid

#endif  // _RAPID_ROBOT_POINT_CLOUD_CAMERA_H_