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:

[legend]

List of all members.

Public Types
typedef sensor_msgs::PointCloud2	PointCloud2
typedef PointCloud2::ConstPtr	PointCloud2ConstPtr
typedef PointCloud2::Ptr	PointCloud2Ptr
Public Member Functions
void	onInit ()
	PointCloudConcatenateDataSynchronizer ()
	Empty constructor.
	PointCloudConcatenateDataSynchronizer (int queue_size)
	Empty constructor.
virtual	~PointCloudConcatenateDataSynchronizer ()
	Empty destructor.
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.
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.
Private Attributes
bool	approximate_sync_
	True if we use an approximate time synchronizer versus an exact one (false by default).
std::vector< boost::shared_ptr < message_filters::Subscriber < PointCloud2 > > >	filters_
	A vector of message filters.
int	maximum_queue_size_
	The maximum number of messages that we can store in the queue.
message_filters::PassThrough < PointCloud2 >	nf_
	Null passthrough filter, used for pushing empty elements in the synchronizer.
std::string	output_frame_
	Output TF frame the concatenated points should be transformed to.
ros::NodeHandle	private_nh_
	ROS local node handle.
ros::Publisher	pub_output_
	The output PointCloud publisher.
tf::TransformListener	tf_
	TF listener object.
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ApproximateTime < PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2 > > >	ts_a_
	Synchronizer.
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ExactTime < PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2 > > >	ts_e_

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 ( ) [inline, virtual]

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 199 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]`