concatenate_fields.h

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 * $Id: concatenate_fields.h 35052 2011-01-03 21:04:57Z rusu $
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#ifndef PCL_IO_CONCATENATE_FIELDS_H_
#define PCL_IO_CONCATENATE_FIELDS_H_
 
// ROS includes
#include <nodelet_topic_tools/nodelet_lazy.h>
 
#include <sensor_msgs/PointCloud2.h>
 
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) {};
 
      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_;
  };
}
 
#endif  //#ifndef PCL_IO_CONCATENATE_H_