Class SensorSync

src/SensorSync.cpp:64–641

};

class SensorSync
{

private:
        
    // Node handler
    ros::NodeHandlePtr nh_ptr;

    // Subscribers
    vector<ros::Subscriber> lidar_sub;
    ros::Subscriber imu_sub;

    mutex lidar_buf_mtx;
    mutex lidar_leftover_buf_mtx;
    mutex imu_buf_mtx;

    deque<deque<CloudPacket>> lidar_buf;
    deque<deque<CloudPacket>> lidar_leftover_buf;
    deque<sensor_msgs::Imu::ConstPtr> imu_buf;

    mutex merged_cloud_buf_mtx;
    deque<CloudPacket> merged_cloud_buf;

    ros::Publisher merged_pc_pub;
    ros::Publisher data_pub;

    // Lidar extrinsics
    deque<Matrix3d> R_B_L;
    deque<Vector3d> t_B_L;

    // IMU extrinsics
    Matrix3d R_B_I;
    Vector3d t_B_I;

    int MAX_THREAD = std::thread::hardware_concurrency();
    int Nlidar;
    int Nimu;

    double cutoff_time = -1;
    double cutoff_time_new = -1;
    double min_range = 0.5;
    vector<int> ds_rate = {1};

    thread sync_lidar;
    thread sync_data;
    
    double imu_scale = 1.0;

public:
    // Destructor
    ~SensorSync() {}

    SensorSync(ros::NodeHandlePtr &nh_ptr_) : nh_ptr(nh_ptr_)
    {
        // Initialize the variables and subsribe/advertise topics here
        Initialize();
    }