recorded_point_cloud_camera.h

Go to the documentation of this file.

#ifndef _RAPID_ROBOT_RECORDED_POINT_CLOUD_CAMERA_H_
#define _RAPID_ROBOT_RECORDED_POINT_CLOUD_CAMERA_H_

#include "rapid_robot/camera_interface.h"

namespace rapid {
class RecordedPointCloudCamera : public PointCloudCameraInterface {
 public:
  RecordedPointCloudCamera();
  void LoadBag(const std::string& path);

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

 private:
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_;
  geometry_msgs::TransformStamped camera_pose_;
};
}  // namespace rapid

#endif  // _RAPID_ROBOT_RECORDED_POINT_CLOUD_CAMERA_H_