PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of input PointCloud messages on the same topic, checks their timestamps, and concatenates their fields together into a single PointCloud output message. More...

#include <concatenate_data.h>

Inheritance diagram for pcl_ros::PointCloudConcatenateDataSynchronizer:

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Public Types
typedef sensor_msgs::PointCloud2	PointCloud2

typedef PointCloud2::ConstPtr	PointCloud2ConstPtr

typedef PointCloud2::Ptr	PointCloud2Ptr

Public Member Functions
void	onInit ()

	PointCloudConcatenateDataSynchronizer ()
	Empty constructor. More...

	PointCloudConcatenateDataSynchronizer (int queue_size)
	Empty constructor. More...

void	subscribe ()

void	unsubscribe ()

virtual	~PointCloudConcatenateDataSynchronizer ()
	Empty destructor. More...

Public Member Functions inherited from nodelet_topic_tools::NodeletLazy
	NodeletLazy ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Private Member Functions
void	combineClouds (const PointCloud2 &in1, const PointCloud2 &in2, PointCloud2 &out)

void	input (const PointCloud2::ConstPtr &in1, const PointCloud2::ConstPtr &in2, const PointCloud2::ConstPtr &in3, const PointCloud2::ConstPtr &in4, const PointCloud2::ConstPtr &in5, const PointCloud2::ConstPtr &in6, const PointCloud2::ConstPtr &in7, const PointCloud2::ConstPtr &in8)
	Input callback for 8 synchronized topics. More...

void	input_callback (const PointCloud2ConstPtr &input)
	Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp. More...

Private Attributes
bool	approximate_sync_
	True if we use an approximate time synchronizer versus an exact one (false by default). More...

std::vector< boost::shared_ptr< message_filters::Subscriber< PointCloud2 > > >	filters_
	A vector of message filters. More...

XmlRpc::XmlRpcValue	input_topics_
	Input point cloud topics. More...

int	maximum_queue_size_
	The maximum number of messages that we can store in the queue. More...

message_filters::PassThrough< PointCloud2 >	nf_
	Null passthrough filter, used for pushing empty elements in the synchronizer. More...

std::string	output_frame_
	Output TF frame the concatenated points should be transformed to. More...

ros::Publisher	pub_output_
	The output PointCloud publisher. More...

tf::TransformListener	tf_
	TF listener object. More...

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2 > > >	ts_a_
	Synchronizer. More...

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2 > > >	ts_e_

Additional Inherited Members
Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes inherited from nodelet_topic_tools::NodeletLazy
boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

bool	lazy_

boost::shared_ptr< ros::NodeHandle >	nh_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

ros::WallTimer	timer_ever_subscribed_

bool	verbose_connection_

Detailed Description

PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of input PointCloud messages on the same topic, checks their timestamps, and concatenates their fields together into a single PointCloud output message.

Author: Radu Bogdan Rusu

Definition at line 60 of file concatenate_data.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl_ros::PointCloudConcatenateDataSynchronizer::PointCloud2

Definition at line 63 of file concatenate_data.h.

typedef PointCloud2::ConstPtr pcl_ros::PointCloudConcatenateDataSynchronizer::PointCloud2ConstPtr

Definition at line 65 of file concatenate_data.h.

typedef PointCloud2::Ptr pcl_ros::PointCloudConcatenateDataSynchronizer::PointCloud2Ptr

Definition at line 64 of file concatenate_data.h.

Constructor & Destructor Documentation

pcl_ros::PointCloudConcatenateDataSynchronizer::PointCloudConcatenateDataSynchronizer ( )

inline

Empty constructor.

Definition at line 68 of file concatenate_data.h.

pcl_ros::PointCloudConcatenateDataSynchronizer::PointCloudConcatenateDataSynchronizer ( int queue_size )

inline

Empty constructor.

Parameters

queue_size the maximum queue size

Definition at line 73 of file concatenate_data.h.

virtual pcl_ros::PointCloudConcatenateDataSynchronizer::~PointCloudConcatenateDataSynchronizer ( )

inlinevirtual

Empty destructor.

Definition at line 76 of file concatenate_data.h.

Member Function Documentation

void pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds	(	const PointCloud2 &	in1,
		const PointCloud2 &	in2,
		PointCloud2 &	out
	)

private

Definition at line 207 of file concatenate_data.cpp.

void pcl_ros::PointCloudConcatenateDataSynchronizer::input	(	const PointCloud2::ConstPtr &	in1,
		const PointCloud2::ConstPtr &	in2,
		const PointCloud2::ConstPtr &	in3,
		const PointCloud2::ConstPtr &	in4,
		const PointCloud2::ConstPtr &	in5,
		const PointCloud2::ConstPtr &	in6,
		const PointCloud2::ConstPtr &	in7,
		const PointCloud2::ConstPtr &	in8
	)

private

Input callback for 8 synchronized topics.

Definition at line 232 of file concatenate_data.cpp.

void pcl_ros::PointCloudConcatenateDataSynchronizer::input_callback ( const PointCloud2ConstPtr & input )

inlineprivate

Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp.

Definition at line 119 of file concatenate_data.h.

void pcl_ros::PointCloudConcatenateDataSynchronizer::onInit ( )

virtual

Reimplemented from nodelet_topic_tools::NodeletLazy.

Definition at line 47 of file concatenate_data.cpp.

void pcl_ros::PointCloudConcatenateDataSynchronizer::subscribe ( )

virtual

Implements nodelet_topic_tools::NodeletLazy.

Definition at line 93 of file concatenate_data.cpp.

void pcl_ros::PointCloudConcatenateDataSynchronizer::unsubscribe ( )

virtual

Implements nodelet_topic_tools::NodeletLazy.

Definition at line 197 of file concatenate_data.cpp.

Member Data Documentation

bool pcl_ros::PointCloudConcatenateDataSynchronizer::approximate_sync_

private

True if we use an approximate time synchronizer versus an exact one (false by default).

Definition at line 90 of file concatenate_data.h.

std::vector<boost::shared_ptr<message_filters::Subscriber<PointCloud2> > > pcl_ros::PointCloudConcatenateDataSynchronizer::filters_

private

A vector of message filters.

Definition at line 93 of file concatenate_data.h.

XmlRpc::XmlRpcValue pcl_ros::PointCloudConcatenateDataSynchronizer::input_topics_

private

Input point cloud topics.

Definition at line 99 of file concatenate_data.h.

int pcl_ros::PointCloudConcatenateDataSynchronizer::maximum_queue_size_

private

The maximum number of messages that we can store in the queue.

Definition at line 87 of file concatenate_data.h.

message_filters::PassThrough<PointCloud2> pcl_ros::PointCloudConcatenateDataSynchronizer::nf_

private

Null passthrough filter, used for pushing empty elements in the synchronizer.

Definition at line 106 of file concatenate_data.h.

std::string pcl_ros::PointCloudConcatenateDataSynchronizer::output_frame_

private

Output TF frame the concatenated points should be transformed to.

Definition at line 96 of file concatenate_data.h.

ros::Publisher pcl_ros::PointCloudConcatenateDataSynchronizer::pub_output_

private

The output PointCloud publisher.

Definition at line 84 of file concatenate_data.h.

tf::TransformListener pcl_ros::PointCloudConcatenateDataSynchronizer::tf_

private

TF listener object.

Definition at line 102 of file concatenate_data.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2> > > pcl_ros::PointCloudConcatenateDataSynchronizer::ts_a_

private

Synchronizer.

Note: This will most likely be rewritten soon using the DynamicTimeSynchronizer.

Definition at line 111 of file concatenate_data.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2> > > pcl_ros::PointCloudConcatenateDataSynchronizer::ts_e_

private

Definition at line 112 of file concatenate_data.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation