Program Listing for File concatenate_fields.hpp

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 * $Id: concatenate_fields.h 35052 2011-01-03 21:04:57Z rusu $
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#ifndef PCL_ROS__IO__CONCATENATE_FIELDS_HPP_
#define PCL_ROS__IO__CONCATENATE_FIELDS_HPP_

// ROS includes
#include <nodelet_topic_tools/nodelet_lazy.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>

#include <sensor_msgs/PointCloud2.h>

#include <map>
#include <vector>

namespace pcl_ros
{
class PointCloudConcatenateFieldsSynchronizer : public nodelet_topic_tools::NodeletLazy
{
public:
  typedef sensor_msgs::PointCloud2 PointCloud;
  typedef PointCloud::Ptr PointCloudPtr;
  typedef PointCloud::ConstPtr PointCloudConstPtr;

  PointCloudConcatenateFieldsSynchronizer()
  : maximum_queue_size_(3), maximum_seconds_(0) {}

  explicit PointCloudConcatenateFieldsSynchronizer(int queue_size)
  : maximum_queue_size_(queue_size), maximum_seconds_(0) {}

  virtual ~PointCloudConcatenateFieldsSynchronizer() {}

  void onInit();
  void subscribe();
  void unsubscribe();
  void input_callback(const PointCloudConstPtr & cloud);

private:
  ros::Subscriber sub_input_;

  ros::Publisher pub_output_;

  int input_messages_;

  int maximum_queue_size_;

  double maximum_seconds_;

  std::map<ros::Time, std::vector<PointCloudConstPtr>> queue_;
};
}  // namespace pcl_ros

#endif  // PCL_ROS__IO__CONCATENATE_FIELDS_HPP_