diff --git a/include/laser/capture/capture_laser_3d.h b/include/laser/capture/capture_laser_3d.h new file mode 100644 index 0000000000000000000000000000000000000000..5a8a4e38f1e453174cc32f35e820829435c3bd7c --- /dev/null +++ b/include/laser/capture/capture_laser_3d.h @@ -0,0 +1,33 @@ +#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 diff --git a/src/capture/capture_laser_3d.cpp b/src/capture/capture_laser_3d.cpp new file mode 100644 index 0000000000000000000000000000000000000000..5e7738a29efcd54d7312d2b58ffb1ab77a81bb35 --- /dev/null +++ b/src/capture/capture_laser_3d.cpp @@ -0,0 +1,21 @@ +#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