From 0bf8a103da2ea2ae10178f7659585c330528d4a0 Mon Sep 17 00:00:00 2001
From: vsainz <vsainz@iri.upc.edu>
Date: Wed, 27 Jul 2022 15:19:05 +0200
Subject: [PATCH] New capture laser 3d
---
include/laser/capture/capture_laser_3d.h | 33 ++++++++++++++++++++++++
src/capture/capture_laser_3d.cpp | 21 +++++++++++++++
2 files changed, 54 insertions(+)
create mode 100644 include/laser/capture/capture_laser_3d.h
create mode 100644 src/capture/capture_laser_3d.cpp
diff --git a/include/laser/capture/capture_laser_3d.h b/include/laser/capture/capture_laser_3d.h
new file mode 100644
index 000000000..5a8a4e38f
--- /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 000000000..5e7738a29
--- /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
--
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