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Commit 0bf8a103 authored by Víctor Sainz Ubide's avatar Víctor Sainz Ubide
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New capture laser 3d

parent 0bcc739d
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#ifndef CAPTURE_LASER_3d_H_
#define CAPTURE_LASER_3d_H_
// WOLF includes
#include <core/capture/capture_base.h>
// PCL includes
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
namespace wolf
{
namespace laser
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
class CaptureLaser3d : public CaptureBase
{
public:
CaptureLaser3d(TimeStamp _timestamp, PointCloud::Ptr _point_cloud);
~CaptureLaser3d();
PointCloud::Ptr getPointCloud() const;
private:
PointCloud::Ptr point_cloud_;
}
} // namespace laser
} // namespace wolf
#endif // CAPTURE_LASER_3d_H_
\ No newline at end of file
#include "laser/capture/capture_laser_3d.h"
namespace wolf
{
namespace laser
{
CaptureLaser3d::CaptureLaser3d(const TimeStamp& _timestamp, SensorBasePtr _sensor, PointCloud::Ptr _point_cloud)
: CaptureBase("CaptureLaser3d", _timestamp, _sensor), point_cloud_(_point_cloud)
{
}
CaptureLaser3d::~CaptureLaser3d() {}
PointCloud::Ptr CaptureLaser3d::getPointCloud() const
{
return point_cloud_;
}
} // namespace laser
} // namespace wolf
\ No newline at end of file
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