Program Listing for File concatenate_data.hpp

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 * $Id: concatenate_data.h 35231 2011-01-14 05:33:20Z rusu $
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#ifndef PCL_ROS__IO__CONCATENATE_DATA_HPP_
#define PCL_ROS__IO__CONCATENATE_DATA_HPP_

// ROS includes
#include <tf/transform_listener.h>
#include <nodelet_topic_tools/nodelet_lazy.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/pass_through.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <string>
#include <vector>

namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;

class PointCloudConcatenateDataSynchronizer : public nodelet_topic_tools::NodeletLazy
{
public:
  typedef sensor_msgs::PointCloud2 PointCloud2;
  typedef PointCloud2::Ptr PointCloud2Ptr;
  typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

  PointCloudConcatenateDataSynchronizer()
  : maximum_queue_size_(3) {}

  explicit PointCloudConcatenateDataSynchronizer(int queue_size)
  : maximum_queue_size_(queue_size), approximate_sync_(false) {}

  virtual ~PointCloudConcatenateDataSynchronizer() {}

  void onInit();
  void subscribe();
  void unsubscribe();

private:
  ros::Publisher pub_output_;

  int maximum_queue_size_;

  bool approximate_sync_;

  std::vector<boost::shared_ptr<message_filters::Subscriber<PointCloud2>>> filters_;

  std::string output_frame_;

  XmlRpc::XmlRpcValue input_topics_;

  tf::TransformListener tf_;

  message_filters::PassThrough<PointCloud2> nf_;

  boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2,
    PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2,
    PointCloud2>>> ts_a_;
  boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointCloud2,
    PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2>>> ts_e_;

  inline void
  input_callback(const PointCloud2ConstPtr & input)
  {
    PointCloud2 cloud;
    cloud.header.stamp = input->header.stamp;
    nf_.add(boost::make_shared<PointCloud2>(cloud));
  }

  void input(
    const PointCloud2::ConstPtr & in1, const PointCloud2::ConstPtr & in2,
    const PointCloud2::ConstPtr & in3, const PointCloud2::ConstPtr & in4,
    const PointCloud2::ConstPtr & in5, const PointCloud2::ConstPtr & in6,
    const PointCloud2::ConstPtr & in7, const PointCloud2::ConstPtr & in8);

  void combineClouds(const PointCloud2 & in1, const PointCloud2 & in2, PointCloud2 & out);
};
}  // namespace pcl_ros

#endif  // PCL_ROS__IO__CONCATENATE_DATA_HPP_