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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: concatenate_fields.h 35052 2011-01-03 21:04:57Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_IO_CONCATENATE_FIELDS_H_ 00039 #define PCL_IO_CONCATENATE_FIELDS_H_ 00040 00041 // ROS includes 00042 #include <nodelet/nodelet.h> 00043 #include <message_filters/subscriber.h> 00044 #include <message_filters/synchronizer.h> 00045 #include <message_filters/sync_policies/exact_time.h> 00046 #include <message_filters/sync_policies/approximate_time.h> 00047 00048 namespace pcl_ros 00049 { 00055 class PointCloudConcatenateFieldsSynchronizer: public nodelet::Nodelet 00056 { 00057 public: 00058 typedef sensor_msgs::PointCloud2 PointCloud; 00059 typedef PointCloud::Ptr PointCloudPtr; 00060 typedef PointCloud::ConstPtr PointCloudConstPtr; 00061 00063 PointCloudConcatenateFieldsSynchronizer () : maximum_queue_size_ (3), maximum_seconds_ (0) {}; 00064 00068 PointCloudConcatenateFieldsSynchronizer (int queue_size) : maximum_queue_size_ (queue_size), maximum_seconds_ (0) {}; 00069 00071 virtual ~PointCloudConcatenateFieldsSynchronizer () {}; 00072 00073 void onInit (); 00074 void input_callback (const PointCloudConstPtr &cloud); 00075 00076 private: 00078 ros::NodeHandle private_nh_; 00079 00081 ros::Subscriber sub_input_; 00082 00084 ros::Publisher pub_output_; 00085 00087 int input_messages_; 00088 00090 int maximum_queue_size_; 00091 00093 double maximum_seconds_; 00094 00096 std::map<ros::Time, std::vector<PointCloudConstPtr> > queue_; 00097 }; 00098 } 00099 00100 #endif //#ifndef PCL_IO_CONCATENATE_H_