concatenate_data.h
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00001 /*
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00034  * $Id: concatenate_data.h 35231 2011-01-14 05:33:20Z rusu $
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00037 
00038 #ifndef PCL_IO_CONCATENATE_DATA_H_
00039 #define PCL_IO_CONCATENATE_DATA_H_
00040 
00041 // ROS includes
00042 #include <tf/transform_listener.h>
00043 #include <nodelet/nodelet.h>
00044 #include <message_filters/subscriber.h>
00045 #include <message_filters/synchronizer.h>
00046 #include <message_filters/pass_through.h>
00047 #include <message_filters/sync_policies/exact_time.h>
00048 #include <message_filters/sync_policies/approximate_time.h>
00049 
00050 namespace pcl_ros
00051 {
00052   namespace sync_policies = message_filters::sync_policies;
00053 
00060   class PointCloudConcatenateDataSynchronizer: public nodelet::Nodelet
00061   {
00062     public:
00063       typedef sensor_msgs::PointCloud2 PointCloud2;
00064       typedef PointCloud2::Ptr PointCloud2Ptr;
00065       typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
00066 
00068       PointCloudConcatenateDataSynchronizer () : maximum_queue_size_ (3) {};
00069 
00073       PointCloudConcatenateDataSynchronizer (int queue_size) : maximum_queue_size_(queue_size), approximate_sync_(false) {};
00074 
00076       virtual ~PointCloudConcatenateDataSynchronizer () {};
00077 
00078       void onInit ();
00079 
00080     private:
00082       ros::NodeHandle private_nh_;
00083       
00085       ros::Publisher pub_output_;
00086 
00088       int maximum_queue_size_;
00089 
00091       bool approximate_sync_;
00092 
00094       std::vector<boost::shared_ptr<message_filters::Subscriber<PointCloud2> > > filters_;
00095 
00097       std::string output_frame_;
00098 
00100       tf::TransformListener tf_;
00101 
00104       message_filters::PassThrough<PointCloud2> nf_;
00105 
00109       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2> > > ts_a_;
00110       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2> > > ts_e_;
00111 
00116       inline void
00117       input_callback (const PointCloud2ConstPtr &input)
00118       {
00119         PointCloud2 cloud;
00120         cloud.header.stamp = input->header.stamp;
00121         nf_.add (boost::make_shared<PointCloud2> (cloud));
00122       }
00123 
00125       void input (const PointCloud2::ConstPtr &in1, const PointCloud2::ConstPtr &in2, 
00126                   const PointCloud2::ConstPtr &in3, const PointCloud2::ConstPtr &in4, 
00127                   const PointCloud2::ConstPtr &in5, const PointCloud2::ConstPtr &in6, 
00128                   const PointCloud2::ConstPtr &in7, const PointCloud2::ConstPtr &in8);
00129       
00130       void combineClouds (const PointCloud2 &in1, const PointCloud2 &in2, PointCloud2 &out);
00131   };
00132 }
00133 
00134 #endif  //#ifndef PCL_ROS_IO_CONCATENATE_H_


pcl_ros
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:22:22