cloud_accum.h

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/*
 * Copyright (c) 2020, the mcl_3dl authors
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef MCL_3DL_CLOUD_ACCUM_H
#define MCL_3DL_CLOUD_ACCUM_H
 
#include <functional>
#include <memory>
#include <string>
#include <vector>
 
#include <sensor_msgs/PointCloud2.h>
 
namespace mcl_3dl
{
class CloudAccumulationLogicBase
{
public:
  using Ptr = std::shared_ptr<CloudAccumulationLogicBase>;
 
  virtual void push(
      const std::string& key,
      const sensor_msgs::PointCloud2::ConstPtr& msg,
      std::function<void()> process,
      std::function<bool(const sensor_msgs::PointCloud2::ConstPtr&)> accumulate,
      std::function<void()> clear) = 0;
 
  virtual void reset() = 0;
};
 
class CloudAccumulationLogicPassThrough : public CloudAccumulationLogicBase
{
public:
  void push(
      const std::string& key,
      const sensor_msgs::PointCloud2::ConstPtr& msg,
      std::function<void()> process,
      std::function<bool(const sensor_msgs::PointCloud2::ConstPtr&)> accumulate,
      std::function<void()> clear) final;
 
  inline void reset() final
  {
  }
};
 
class CloudAccumulationLogic : public CloudAccumulationLogicBase
{
public:
  inline CloudAccumulationLogic(
      const size_t accum,
      const size_t accum_max)
    : accum_(accum)
    , accum_max_(accum_max)
    , cnt_accum_(0)
  {
  }
 
  void push(
      const std::string& key,
      const sensor_msgs::PointCloud2::ConstPtr& msg,
      std::function<void()> process,
      std::function<bool(const sensor_msgs::PointCloud2::ConstPtr&)> accumulate,
      std::function<void()> clear) final;
 
  void reset() final;
 
private:
  size_t accum_;
  size_t accum_max_;
  size_t cnt_accum_;
  std::vector<std::string> keys_;
};
}  // namespace mcl_3dl
 
#endif  // MCL_3DL_CLOUD_ACCUM_H