concatenate_fields.h
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00001 /*
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00034  * $Id: concatenate_fields.h 35052 2011-01-03 21:04:57Z rusu $
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00037 
00038 #ifndef PCL_IO_CONCATENATE_FIELDS_H_
00039 #define PCL_IO_CONCATENATE_FIELDS_H_
00040 
00041 // ROS includes
00042 #include <nodelet/nodelet.h>
00043 #include <message_filters/subscriber.h>
00044 #include <message_filters/synchronizer.h>
00045 #include <message_filters/sync_policies/exact_time.h>
00046 #include <message_filters/sync_policies/approximate_time.h>
00047 
00048 #include <sensor_msgs/PointCloud2.h>
00049 
00050 namespace pcl_ros
00051 {
00057   class PointCloudConcatenateFieldsSynchronizer: public nodelet::Nodelet
00058   {
00059     public:
00060       typedef sensor_msgs::PointCloud2 PointCloud;
00061       typedef PointCloud::Ptr PointCloudPtr;
00062       typedef PointCloud::ConstPtr PointCloudConstPtr;
00063 
00065       PointCloudConcatenateFieldsSynchronizer () : maximum_queue_size_ (3), maximum_seconds_ (0) {};
00066 
00070       PointCloudConcatenateFieldsSynchronizer (int queue_size) : maximum_queue_size_ (queue_size), maximum_seconds_ (0) {};
00071 
00073       virtual ~PointCloudConcatenateFieldsSynchronizer () {};
00074 
00075       void onInit ();
00076       void input_callback (const PointCloudConstPtr &cloud);
00077 
00078     private:
00080       ros::NodeHandle private_nh_;
00081 
00083       ros::Subscriber sub_input_;
00084 
00086       ros::Publisher pub_output_;
00087 
00089       int input_messages_;
00090 
00092       int maximum_queue_size_;
00093 
00095       double maximum_seconds_;
00096 
00098       std::map<ros::Time, std::vector<PointCloudConstPtr> > queue_;
00099   };
00100 }
00101 
00102 #endif  //#ifndef PCL_IO_CONCATENATE_H_


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu May 5 2016 04:16:43