normal_concatenater.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_NORMAL_CONCATENATER_H_
#define JSK_PCL_ROS_UTILS_NORMAL_CONCATENATER_H_
 
#include <ros/ros.h>
#include <ros/names.h>
#include <sensor_msgs/PointCloud2.h>
 
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
 
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>
#include <pcl/common/centroid.h>
#include <pcl/filters/extract_indices.h>
#include <jsk_topic_tools/connection_based_nodelet.h>
 
namespace jsk_pcl_ros_utils
{
  class NormalConcatenater: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> SyncPolicy;
    typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ASyncPolicy;
    virtual ~NormalConcatenater();
  protected:
    ros::Publisher pub_;
    int maximum_queue_size_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<ASyncPolicy> > async_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_xyz_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_normal_;
    virtual void concatenate(const sensor_msgs::PointCloud2::ConstPtr& xyz, const sensor_msgs::PointCloud2::ConstPtr& normal);
    virtual void subscribe();
    virtual void unsubscribe();
    bool use_async_;
  private:
    virtual void onInit();
    
  };
}
 
#endif