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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_data.h 35231 2011-01-14 05:33:20Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_IO_CONCATENATE_DATA_H_ 00039 #define PCL_IO_CONCATENATE_DATA_H_ 00040 00041 // ROS includes 00042 #include <tf/transform_listener.h> 00043 #include <nodelet/nodelet.h> 00044 #include <message_filters/subscriber.h> 00045 #include <message_filters/synchronizer.h> 00046 #include <message_filters/pass_through.h> 00047 #include <message_filters/sync_policies/exact_time.h> 00048 #include <message_filters/sync_policies/approximate_time.h> 00049 00050 namespace pcl_ros 00051 { 00052 namespace sync_policies = message_filters::sync_policies; 00053 00060 class PointCloudConcatenateDataSynchronizer: public nodelet::Nodelet 00061 { 00062 public: 00063 typedef sensor_msgs::PointCloud2 PointCloud2; 00064 typedef PointCloud2::Ptr PointCloud2Ptr; 00065 typedef PointCloud2::ConstPtr PointCloud2ConstPtr; 00066 00068 PointCloudConcatenateDataSynchronizer () : maximum_queue_size_ (3) {}; 00069 00073 PointCloudConcatenateDataSynchronizer (int queue_size) : maximum_queue_size_(queue_size), approximate_sync_(false) {}; 00074 00076 virtual ~PointCloudConcatenateDataSynchronizer () {}; 00077 00078 void onInit (); 00079 00080 private: 00082 ros::NodeHandle private_nh_; 00083 00085 ros::Publisher pub_output_; 00086 00088 int maximum_queue_size_; 00089 00091 bool approximate_sync_; 00092 00094 std::vector<boost::shared_ptr<message_filters::Subscriber<PointCloud2> > > filters_; 00095 00097 std::string output_frame_; 00098 00100 tf::TransformListener tf_; 00101 00104 message_filters::PassThrough<PointCloud2> nf_; 00105 00109 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2> > > ts_a_; 00110 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2> > > ts_e_; 00111 00116 inline void 00117 input_callback (const PointCloud2ConstPtr &input) 00118 { 00119 PointCloud2 cloud; 00120 cloud.header.stamp = input->header.stamp; 00121 nf_.add (boost::make_shared<PointCloud2> (cloud)); 00122 } 00123 00125 void input (const PointCloud2::ConstPtr &in1, const PointCloud2::ConstPtr &in2, 00126 const PointCloud2::ConstPtr &in3, const PointCloud2::ConstPtr &in4, 00127 const PointCloud2::ConstPtr &in5, const PointCloud2::ConstPtr &in6, 00128 const PointCloud2::ConstPtr &in7, const PointCloud2::ConstPtr &in8); 00129 00130 void combineClouds (const PointCloud2 &in1, const PointCloud2 &in2, PointCloud2 &out); 00131 }; 00132 } 00133 00134 #endif //#ifndef PCL_ROS_IO_CONCATENATE_H_