point_cloud_assembler.cpp

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/*
Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its 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" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
#include <ros/ros.h>
#include <pluginlib/class_list_macros.hpp>
#include <nodelet/nodelet.h>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/radius_outlier_removal.h>
 
#include <pcl_ros/transforms.h>
 
#include <tf/transform_listener.h>
 
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud2_iterator.h>
 
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/exact_time.h>
 
#include <rtabmap_conversions/MsgConversion.h>
#include <rtabmap_msgs/OdomInfo.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/Version.h>
 
namespace rtabmap_util
{
 
class PointCloudAssembler : public nodelet::Nodelet
{
public:
        PointCloudAssembler() :
                warningThread_(0),
                callbackCalled_(false),
                exactSync_(0),
                exactInfoSync_(0),
                maxClouds_(0),
                assemblingTime_(0),
                skipClouds_(0),
                cloudsSkipped_(0),
                circularBuffer_(false),
                linearUpdate_(0),
                angularUpdate_(0),
                waitForTransformDuration_(0.1),
                rangeMin_(0),
                rangeMax_(0),
                voxelSize_(0),
                noiseRadius_(0),
                noiseMinNeighbors_(5),
                removeZ_(false),
                fixedFrameId_("odom"),
                frameId_("")
        {}
 
        virtual ~PointCloudAssembler()
        {
                delete exactSync_;
                delete exactInfoSync_;
 
                if(warningThread_)
                {
                        callbackCalled_=true;
                        warningThread_->join();
                        delete warningThread_;
                }
        }
 
private:
        virtual void onInit()
        {
                ros::NodeHandle & nh = getNodeHandle();
                ros::NodeHandle & pnh = getPrivateNodeHandle();
 
                int queueSize = 1;
                int syncQueueSize = 5;
                bool subscribeOdomInfo = false;
 
                pnh.param("topic_queue_size", queueSize, queueSize);
                if(pnh.hasParam("queue_size") && !pnh.hasParam("sync_queue_size"))
                {
                        pnh.param("queue_size", syncQueueSize, syncQueueSize);
                        ROS_WARN("Parameter \"queue_size\" has been renamed "
                                                "to \"sync_queue_size\" and will be removed "
                                                "in future versions! The value (%d) is copied to "
                                                "\"sync_queue_size\".", syncQueueSize);
                }
                else
                {
                        pnh.param("sync_queue_size", syncQueueSize, syncQueueSize);
                }
                pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_);
                pnh.param("frame_id", frameId_, frameId_);
                pnh.param("max_clouds", maxClouds_, maxClouds_);
                pnh.param("assembling_time", assemblingTime_, assemblingTime_);
                pnh.param("skip_clouds", skipClouds_, skipClouds_);
                pnh.param("circular_buffer", circularBuffer_, circularBuffer_);
                pnh.param("linear_update", linearUpdate_, linearUpdate_);
                pnh.param("angular_update", angularUpdate_, angularUpdate_);
                pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
                pnh.param("range_min", rangeMin_, rangeMin_);
                pnh.param("range_max", rangeMax_, rangeMax_);
                pnh.param("voxel_size", voxelSize_, voxelSize_);
                pnh.param("noise_radius", noiseRadius_, noiseRadius_);
                pnh.param("noise_min_neighbors", noiseMinNeighbors_, noiseMinNeighbors_);
                pnh.param("remove_z", removeZ_, removeZ_);
                pnh.param("subscribe_odom_info", subscribeOdomInfo, subscribeOdomInfo);
                ROS_ASSERT(maxClouds_>0 || assemblingTime_ >0.0);
 
                ROS_INFO("%s: topic_queue_size=%d", getName().c_str(), queueSize);
                ROS_INFO("%s: sync_queue_size=%d", getName().c_str(), syncQueueSize);
                ROS_INFO("%s: fixed_frame_id=%s", getName().c_str(), fixedFrameId_.c_str());
                ROS_INFO("%s: frame_id=%s", getName().c_str(), frameId_.c_str());
                ROS_INFO("%s: max_clouds=%d", getName().c_str(), maxClouds_);
                ROS_INFO("%s: assembling_time=%fs", getName().c_str(), assemblingTime_);
                ROS_INFO("%s: skip_clouds=%d", getName().c_str(), skipClouds_);
                ROS_INFO("%s: circular_buffer=%s", getName().c_str(), circularBuffer_?"true":"false");
                ROS_INFO("%s: linear_update=%f m", getName().c_str(), linearUpdate_);
                ROS_INFO("%s: angular_update=%f rad", getName().c_str(), angularUpdate_);
                ROS_INFO("%s: wait_for_transform_duration=%f", getName().c_str(), waitForTransformDuration_);
                ROS_INFO("%s: range_min=%f", getName().c_str(), rangeMin_);
                ROS_INFO("%s: range_max=%f", getName().c_str(), rangeMax_);
                ROS_INFO("%s: voxel_size=%fm", getName().c_str(), voxelSize_);
                ROS_INFO("%s: noise_radius=%fm", getName().c_str(), noiseRadius_);
                ROS_INFO("%s: noise_min_neighbors=%d", getName().c_str(), noiseMinNeighbors_);
                ROS_INFO("%s: remove_z=%s", getName().c_str(), removeZ_?"true":"false");
 
                if(maxClouds_==0 && assemblingTime_ ==0.0)
                {
                        ROS_ERROR("point_cloud_assembler: max_cloud or assembling_time parameters should be set!");
                        exit(-1);
                }
 
                cloudsSkipped_ = skipClouds_;
 
                std::string subscribedTopicsMsg;
                if(!fixedFrameId_.empty())
                {
                        cloudSub_ = nh.subscribe("cloud", queueSize, &PointCloudAssembler::callbackCloud, this);
                        subscribedTopicsMsg = uFormat("\n%s subscribed to %s",
                                                                getName().c_str(),
                                                                cloudSub_.getTopic().c_str());
                }
                else if(subscribeOdomInfo)
                {
                        syncCloudSub_.subscribe(nh, "cloud", queueSize);
                        syncOdomSub_.subscribe(nh, "odom", queueSize);
                        syncOdomInfoSub_.subscribe(nh, "odom_info", queueSize);
                        exactInfoSync_ = new message_filters::Synchronizer<syncInfoPolicy>(syncInfoPolicy(syncQueueSize), syncCloudSub_, syncOdomSub_, syncOdomInfoSub_);
                        exactInfoSync_->registerCallback(boost::bind(&rtabmap_util::PointCloudAssembler::callbackCloudOdomInfo, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
                        subscribedTopicsMsg = uFormat("\n%s subscribed to (exact sync):\n   %s,\n   %s",
                                                                getName().c_str(),
                                                                syncCloudSub_.getTopic().c_str(),
                                                                syncOdomSub_.getTopic().c_str(),
                                                                syncOdomInfoSub_.getTopic().c_str());
 
                        warningThread_ = new boost::thread(boost::bind(&PointCloudAssembler::warningLoop, this, subscribedTopicsMsg));
                }
                else
                {
                        syncCloudSub_.subscribe(nh, "cloud", queueSize);
                        syncOdomSub_.subscribe(nh, "odom", queueSize);
                        exactSync_ = new message_filters::Synchronizer<syncPolicy>(syncPolicy(syncQueueSize), syncCloudSub_, syncOdomSub_);
                        exactSync_->registerCallback(boost::bind(&rtabmap_util::PointCloudAssembler::callbackCloudOdom, this, boost::placeholders::_1, boost::placeholders::_2));
                        subscribedTopicsMsg = uFormat("\n%s subscribed to (exact sync):\n   %s,\n   %s",
                                                                getName().c_str(),
                                                                syncCloudSub_.getTopic().c_str(),
                                                                syncOdomSub_.getTopic().c_str());
 
                        warningThread_ = new boost::thread(boost::bind(&PointCloudAssembler::warningLoop, this, subscribedTopicsMsg));
                }
 
                cloudPub_ = nh.advertise<sensor_msgs::PointCloud2>("assembled_cloud", 1);
 
                NODELET_INFO("%s", subscribedTopicsMsg.c_str());
        }
 
        void callbackCloudOdom(
                        const sensor_msgs::PointCloud2ConstPtr & cloudMsg,
                        const nav_msgs::OdometryConstPtr & odomMsg)
        {
                callbackCalled_ = true;
                rtabmap::Transform odom = rtabmap_conversions::transformFromPoseMsg(odomMsg->pose.pose);
                if(!odom.isNull())
                {
                        fixedFrameId_ = odomMsg->header.frame_id;
                        callbackCloud(cloudMsg);
                }
                else
                {
                        NODELET_WARN("Reseting point cloud assembler as null odometry has been received.");
                        clouds_.clear();
                }
        }
 
        void callbackCloudOdomInfo(
                        const sensor_msgs::PointCloud2ConstPtr & cloudMsg,
                        const nav_msgs::OdometryConstPtr & odomMsg,
                        const rtabmap_msgs::OdomInfoConstPtr & odomInfoMsg)
        {
                callbackCalled_ = true;
                rtabmap::Transform odom = rtabmap_conversions::transformFromPoseMsg(odomMsg->pose.pose);
                if(!odom.isNull())
                {
                        if(odomInfoMsg->keyFrameAdded)
                        {
                                fixedFrameId_ = odomMsg->header.frame_id;
                                callbackCloud(cloudMsg);
                        }
                        else
                        {
                                NODELET_INFO("Skipping non keyframe...");
                        }
                }
                else
                {
                        NODELET_WARN("Reseting point cloud assembler as null odometry has been received.");
                        clouds_.clear();
                }
        }
 
        sensor_msgs::PointCloud2 removeField(const sensor_msgs::PointCloud2 & input, const std::string & field)
        {
                sensor_msgs::PointCloud2 output;
                int offset = 0;
                std::vector<int> inputFieldIndex;
                for(size_t i=0; i<input.fields.size(); ++i)
                {
                        if(input.fields[i].name.compare(field) == 0)
                        {
                                continue;
                        }
                        else
                        {
                                sensor_msgs::PointField outputField = input.fields[i];
                                outputField.offset = offset;
                                offset += outputField.count * sizeOfPointField(outputField.datatype);
                                output.fields.push_back(outputField);
                                inputFieldIndex.push_back(i);
                        }
                }
                output.header = input.header;
                output.height = input.height;
                output.width = input.width;
                output.is_bigendian = input.is_bigendian;
                output.is_dense = input.is_dense;
                output.point_step = offset;
                output.row_step = output.width * output.point_step;
                output.data.resize(output.height*output.row_step);
                int total = output.height*output.width;
                for(int i=0; i<total; ++i)
                {
                        // for each point, copy fields
                        int oi = i*output.point_step;
                        int pi = i*input.point_step;
                        for(size_t j=0;j<output.fields.size(); ++j)
                        {
                                memcpy(&output.data[oi + output.fields[j].offset],
                                           &input.data[pi + input.fields[inputFieldIndex[j]].offset],
                                           output.fields[j].count * sizeOfPointField(output.fields[j].datatype));
                        }
                }
                return output;
        }
 
        void callbackCloud(const sensor_msgs::PointCloud2ConstPtr & cloudMsg)
        {
                callbackCalled_ = true;
                if(cloudPub_.getNumSubscribers())
                {
                        UASSERT_MSG(cloudMsg->data.size() == cloudMsg->row_step*cloudMsg->height,
                                        uFormat("data=%d row_step=%d height=%d", cloudMsg->data.size(), cloudMsg->row_step, cloudMsg->height).c_str());
 
                        if(skipClouds_<=0 || cloudsSkipped_ >= skipClouds_)
                        {
                                cloudsSkipped_ = 0;
 
                                rtabmap::Transform pose = rtabmap_conversions::getTransform(
                                                fixedFrameId_, //fromFrame
                                                cloudMsg->header.frame_id, //toFrame
                                                cloudMsg->header.stamp,
                                                tfListener_,
                                                waitForTransformDuration_);
 
                                if(pose.isNull())
                                {
                                        ROS_ERROR("Cloud not transform all clouds! Resetting...");
                                        clouds_.clear();
                                        return;
                                }
 
                                bool isMoving = true;
                                if(!previousPose_.isNull() && (linearUpdate_>0 || angularUpdate_>0))
                                {
                                        rtabmap::Transform delta = previousPose_.inverse()*pose;
                                        float roll, pitch, yaw;
                                        delta.getEulerAngles(roll, pitch, yaw);
                                        isMoving = fabs(delta.x()) > linearUpdate_ ||
                                                                        fabs(delta.y()) > linearUpdate_ ||
                                                                        fabs(delta.z()) > linearUpdate_ ||
                                                                        (angularUpdate_>0.0f && (
                                                                                fabs(roll) > angularUpdate_ ||
                                                                                fabs(pitch) > angularUpdate_ ||
                                                                                fabs(yaw) > angularUpdate_));
                                }
 
                                pcl::PCLPointCloud2::Ptr newCloud(new pcl::PCLPointCloud2);
                                if(rangeMin_ > 0.0 || rangeMax_ > 0.0 || voxelSize_ > 0.0f)
                                {
                                        pcl_conversions::toPCL(*cloudMsg, *newCloud);
                                        rtabmap::LaserScan scan = rtabmap::util3d::laserScanFromPointCloud(*newCloud);
                                        scan = rtabmap::util3d::commonFiltering(scan, 1, rangeMin_, rangeMax_, voxelSize_);
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
                                        std::uint64_t stamp = newCloud->header.stamp;
#else
                                        pcl::uint64_t stamp = newCloud->header.stamp;
#endif
                                        newCloud = rtabmap::util3d::laserScanToPointCloud2(scan, pose);
                                        newCloud->header.stamp = stamp;
                                }
                                else
                                {
                                        sensor_msgs::PointCloud2 output;
                                        pcl_ros::transformPointCloud(pose.toEigen4f(), *cloudMsg, output);
                                        pcl_conversions::toPCL(output, *newCloud);
                                }
 
                                if(!newCloud->is_dense)
                                {
                                        // remove nans
                                        newCloud = rtabmap::util3d::removeNaNFromPointCloud(newCloud);
                                }
 
                                clouds_.push_back(newCloud);
 
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
                                bool reachedMaxSize =
                                                ((int)clouds_.size() >= maxClouds_ && maxClouds_ > 0)
                                                ||
                                                ((*newCloud).header.stamp >= clouds_.front()->header.stamp + static_cast<std::uint64_t>(assemblingTime_*1000000.0) && assemblingTime_ > 0.0);
#else
                                bool reachedMaxSize =
                                                ((int)clouds_.size() >= maxClouds_ && maxClouds_ > 0)
                                                ||
                                                ((*newCloud).header.stamp >= clouds_.front()->header.stamp + static_cast<pcl::uint64_t>(assemblingTime_*1000000.0) && assemblingTime_ > 0.0);
#endif
 
                                if( circularBuffer_ || reachedMaxSize )
                                {
                                        pcl::PCLPointCloud2Ptr assembled(new pcl::PCLPointCloud2);
                                        for(std::list<pcl::PCLPointCloud2::Ptr>::iterator iter=clouds_.begin(); iter!=clouds_.end(); ++iter)
                                        {
                                                if(assembled->data.empty())
                                                {
                                                        *assembled = *(*iter);
                                                }
                                                else
                                                {
                                                        pcl::PCLPointCloud2Ptr assembledTmp(new pcl::PCLPointCloud2);
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
                                                        pcl::concatenate(*assembled, *(*iter), *assembledTmp);
#else
                                                        pcl::concatenatePointCloud(*assembled, *(*iter), *assembledTmp);
#endif
                                                        //Make sure row_step is the sum of both
                                                        assembledTmp->row_step = assembled->row_step + (*iter)->row_step;
                                                        assembled = assembledTmp;
                                                }
                                        }
 
                                        sensor_msgs::PointCloud2 rosCloud;
                                        if(voxelSize_>0.0)
                                        {
                                                // estimate if there would be an overflow
                                                int x_idx=-1, y_idx=-1, z_idx=-1;
                                                for (std::size_t d = 0; d < assembled->fields.size (); ++d)
                                                {
                                                        if (assembled->fields[d].name.compare("x")==0)
                                                                x_idx = d;
                                                        if (assembled->fields[d].name.compare("y")==0)
                                                                y_idx = d;
                                                        if (assembled->fields[d].name.compare("z")==0)
                                                                z_idx = d;
                                                }
                                                bool overflow = false;
                                                if(x_idx>=0 && y_idx>=0 && z_idx>=0) {
                                                        Eigen::Vector4f min_p, max_p;
                                                        pcl::getMinMax3D(assembled, x_idx, y_idx, z_idx, min_p, max_p);
                                                        float inverseVoxelSize = 1.0f/voxelSize_;
                                                        std::int64_t dx = static_cast<std::int64_t>((max_p[0] - min_p[0]) * inverseVoxelSize)+1;
                                                        std::int64_t dy = static_cast<std::int64_t>((max_p[1] - min_p[1]) * inverseVoxelSize)+1;
                                                        std::int64_t dz = static_cast<std::int64_t>((max_p[2] - min_p[2]) * inverseVoxelSize)+1;
 
                                                        if ((dx*dy*dz) > static_cast<std::int64_t>(std::numeric_limits<std::int32_t>::max()))
                                                        {
                                                                overflow = true;
                                                        }
                                                }
                                                if(overflow)
                                                {
                                                        rtabmap::LaserScan scan = rtabmap::util3d::laserScanFromPointCloud(*assembled);
                                                        scan = rtabmap::util3d::commonFiltering(scan, 1, 0, 0, voxelSize_);
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
                                                        std::uint64_t stamp = assembled->header.stamp;
#else
                                                        pcl::uint64_t stamp = assembled->header.stamp;
#endif
                                                        assembled = rtabmap::util3d::laserScanToPointCloud2(scan);
                                                        assembled->header.stamp = stamp;
                                                }
                                                else
                                                {
                                                        pcl::VoxelGrid<pcl::PCLPointCloud2> filter;
                                                        filter.setLeafSize(voxelSize_, voxelSize_, voxelSize_);
                                                        filter.setInputCloud(assembled);
                                                        pcl::PCLPointCloud2Ptr output(new pcl::PCLPointCloud2);
                                                        filter.filter(*output);
                                                        assembled = output;
                                                }
                                        }
                                        if(noiseRadius_>0.0 && noiseMinNeighbors_>0)
                                        {
                                                pcl::RadiusOutlierRemoval<pcl::PCLPointCloud2> filter;
                                                filter.setRadiusSearch(noiseRadius_);
                                                filter.setMinNeighborsInRadius(noiseMinNeighbors_);
                                                filter.setInputCloud(assembled);
                                                pcl::PCLPointCloud2Ptr output(new pcl::PCLPointCloud2);
                                                filter.filter(*output);
                                                assembled = output;
                                        }
 
                                        pcl_conversions::moveFromPCL(*assembled, rosCloud);
                                        rtabmap::Transform t = pose;
                                        if(!frameId_.empty())
                                        {
                                                // transform in target frame_id instead of sensor frame
                                                t = rtabmap_conversions::getTransform(
                                                                fixedFrameId_, //fromFrame
                                                                frameId_, //toFrame
                                                                cloudMsg->header.stamp,
                                                                tfListener_,
                                                                waitForTransformDuration_);
                                                if(t.isNull())
                                                {
                                                        ROS_ERROR("Cloud not transform back assembled clouds in target frame \"%s\"! Resetting...", frameId_.c_str());
                                                        clouds_.clear();
                                                        return;
                                                }
                                        }
                                        pcl_ros::transformPointCloud(t.toEigen4f().inverse(), rosCloud, rosCloud);
 
                                        if(removeZ_)
                                        {
                                                rosCloud = removeField(rosCloud, "z");
                                        }
 
                                        rosCloud.header = cloudMsg->header;
                                        if(!frameId_.empty())
                                        {
                                                rosCloud.header.frame_id = frameId_;
                                        }
                                        cloudPub_.publish(rosCloud);
                                        if(circularBuffer_)
                                        {
                                                if(!isMoving)
                                                {
                                                        clouds_.pop_back();
                                                }
                                                else
                                                {
                                                        previousPose_ = pose;
                                                        if(reachedMaxSize)
                                                        {
                                                                clouds_.pop_front();
                                                        }
                                                }
                                        }
                                        else
                                        {
                                                clouds_.clear();
                                                previousPose_.setNull();
                                        }
                                }
                                else if(!isMoving)
                                {
                                        clouds_.pop_back();
                                }
                                else
                                {
                                        previousPose_ = pose;
                                }
                        }
                        else
                        {
                                ++cloudsSkipped_;
                        }
                }
        }
 
        void warningLoop(const std::string & subscribedTopicsMsg)
        {
                ros::Duration r(5.0);
                while(!callbackCalled_)
                {
                        r.sleep();
                        if(!callbackCalled_)
                        {
                                ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
                                                "published (\"$ rostopic hz my_topic\") and the timestamps in their "
                                                "header are set. %s",
                                                getName().c_str(),
                                                subscribedTopicsMsg.c_str());
                        }
                }
        }
 
private:
        boost::thread * warningThread_;
        bool callbackCalled_;
 
        ros::Subscriber cloudSub_;
        ros::Publisher cloudPub_;
 
        typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, nav_msgs::Odometry> syncPolicy;
        typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, nav_msgs::Odometry, rtabmap_msgs::OdomInfo> syncInfoPolicy;
        message_filters::Synchronizer<syncPolicy>* exactSync_;
        message_filters::Synchronizer<syncInfoPolicy>* exactInfoSync_;
        message_filters::Subscriber<sensor_msgs::PointCloud2> syncCloudSub_;
        message_filters::Subscriber<nav_msgs::Odometry> syncOdomSub_;
        message_filters::Subscriber<rtabmap_msgs::OdomInfo> syncOdomInfoSub_;
 
        int maxClouds_;
        int skipClouds_;
        int cloudsSkipped_;
        bool circularBuffer_;
        double linearUpdate_;
        double angularUpdate_;
        double assemblingTime_;
        double waitForTransformDuration_;
        double rangeMin_;
        double rangeMax_;
        double voxelSize_;
        double noiseRadius_;
        int noiseMinNeighbors_;
        bool removeZ_;
        std::string fixedFrameId_;
        std::string frameId_;
        tf::TransformListener tfListener_;
        rtabmap::Transform previousPose_;
 
        std::list<pcl::PCLPointCloud2::Ptr> clouds_;
};
 
PLUGINLIB_EXPORT_CLASS(rtabmap_util::PointCloudAssembler, nodelet::Nodelet);
}