concatenate_fields.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  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 Willow Garage, Inc. 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 OWNER 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.
 *
 * $Id: concatenate_fields.h 35052 2011-01-03 21:04:57Z rusu $
 *
 */

#ifndef PCL_IO_CONCATENATE_FIELDS_H_
#define PCL_IO_CONCATENATE_FIELDS_H_

// ROS includes
#include <nodelet_topic_tools/nodelet_lazy.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>

#include <sensor_msgs/PointCloud2.h>

namespace pcl_ros
{
  class PointCloudConcatenateFieldsSynchronizer: public nodelet_topic_tools::NodeletLazy
  {
    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 subscribe ();
      void unsubscribe ();
      void input_callback (const PointCloudConstPtr &cloud);

    private:
      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_