.. _program_listing_file__tmp_ws_src_rtabmap_ros_rtabmap_util_include_rtabmap_util_point_cloud_assembler.hpp:

Program Listing for File point_cloud_assembler.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rtabmap_ros_rtabmap_util_include_rtabmap_util_point_cloud_assembler.hpp>` (``/tmp/ws/src/rtabmap_ros/rtabmap_util/include/rtabmap_util/point_cloud_assembler.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
   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 <rtabmap_util/visibility.h>
   #include "rclcpp/rclcpp.hpp"
   
   #include <tf2_ros/buffer.h>
   #include <tf2_ros/transform_listener.h>
   
   #include <nav_msgs/msg/odometry.hpp>
   #include <sensor_msgs/msg/point_cloud2.hpp>
   
   #include <message_filters/subscriber.h>
   #include <message_filters/sync_policies/exact_time.h>
   
   #include <rtabmap_conversions/MsgConversion.h>
   #include <rtabmap/core/util3d.h>
   #include <rtabmap/core/util3d_filtering.h>
   
   namespace rtabmap_util
   {
   
   class PointCloudAssembler : public rclcpp::Node
   {
   public:
       RTABMAP_UTIL_PUBLIC
       explicit PointCloudAssembler(const rclcpp::NodeOptions & options);
   
       virtual ~PointCloudAssembler();
   
   private:
       void callbackCloudOdomInfo(
                   const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg,
                   const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
                   const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg);
   
       void callbackCloudOdom(
               const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg,
               const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg);
   
       void callbackCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg);
   
   private:
       std::thread * warningThread_;
       bool callbackCalled_;
   
       rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr cloudSub_;
       rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr cloudPub_;
   
       typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::PointCloud2, nav_msgs::msg::Odometry> syncPolicy;
       typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::PointCloud2, nav_msgs::msg::Odometry, rtabmap_msgs::msg::OdomInfo> syncInfoPolicy;
       message_filters::Synchronizer<syncPolicy>* exactSync_;
       message_filters::Synchronizer<syncInfoPolicy>* exactInfoSync_;
       message_filters::Subscriber<sensor_msgs::msg::PointCloud2> syncCloudSub_;
       message_filters::Subscriber<nav_msgs::msg::Odometry> syncOdomSub_;
       message_filters::Subscriber<rtabmap_msgs::msg::OdomInfo> syncOdomInfoSub_;
   
       int maxClouds_;
       int skipClouds_;
       int cloudsSkipped_;
       bool circularBuffer_;
       double linearUpdate_;
       double angularUpdate_;
       double assemblingTime_;
       double waitForTransform_;
       double rangeMin_;
       double rangeMax_;
       double voxelSize_;
       double noiseRadius_;
       int noiseMinNeighbors_;
       bool removeZ_;
       std::string fixedFrameId_;
       std::string frameId_;
       std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
       std::shared_ptr<tf2_ros::TransformListener> tfListener_;
       rtabmap::Transform previousPose_;
   
       std::list<pcl::PCLPointCloud2::Ptr> clouds_;
   
       std::string subscribedTopicsMsg_;
   };
   
   }