concatenate_fields.h

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 * $Id: concatenate_fields.h 35052 2011-01-03 21:04:57Z rusu $
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#ifndef PCL_IO_CONCATENATE_FIELDS_H_
#define PCL_IO_CONCATENATE_FIELDS_H_

// ROS includes
#include <nodelet/nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>

namespace pcl_ros
{
  class PointCloudConcatenateFieldsSynchronizer: public nodelet::Nodelet
  {
    public:
      typedef sensor_msgs::PointCloud2 PointCloud;
      typedef PointCloud::Ptr PointCloudPtr;
      typedef PointCloud::ConstPtr PointCloudConstPtr;

      PointCloudConcatenateFieldsSynchronizer () : maximum_queue_size_ (3), maximum_seconds_ (0) {};

      PointCloudConcatenateFieldsSynchronizer (int queue_size) : maximum_queue_size_ (queue_size), maximum_seconds_ (0) {};

      virtual ~PointCloudConcatenateFieldsSynchronizer () {};

      void onInit ();
      void input_callback (const PointCloudConstPtr &cloud);

    private:
      ros::NodeHandle private_nh_;

      ros::Subscriber sub_input_;

      ros::Publisher pub_output_;

      int input_messages_;

      int maximum_queue_size_;

      double maximum_seconds_;

      std::map<ros::Time, std::vector<PointCloudConstPtr> > queue_;
  };
}

#endif  //#ifndef PCL_IO_CONCATENATE_H_