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   *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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  #include "jsk_pcl_ros_utils/normal_concatenater.h"
  #include <pluginlib/class_list_macros.h>
  
  namespace jsk_pcl_ros_utils
  {
  
    void NormalConcatenater::concatenate(const sensor_msgs::PointCloud2::ConstPtr& xyz,
                                         const sensor_msgs::PointCloud2::ConstPtr& normal)
    {
      if (xyz->width != normal->width || xyz->height != normal->height) {
        NODELET_ERROR("~input and ~normal's width or height does not match");
        NODELET_ERROR("xyz: width=%d, height=%d", xyz->width, xyz->height);
        NODELET_ERROR("normal: width=%d, height=%d", normal->width, normal->height);
        return;
      }
      pcl::PointCloud<pcl::PointXYZRGB> xyz_cloud;
      pcl::PointCloud<pcl::Normal> normal_cloud;
      pcl::PointCloud<pcl::PointXYZRGBNormal> concatenated_cloud;
      pcl::fromROSMsg(*xyz, xyz_cloud);
      pcl::fromROSMsg(*normal, normal_cloud);
  
      concatenated_cloud.points.resize(xyz_cloud.points.size());
      concatenated_cloud.width = xyz_cloud.width;
      concatenated_cloud.height = xyz_cloud.height;
      concatenated_cloud.is_dense = xyz_cloud.is_dense;
  
      for (size_t i = 0; i < concatenated_cloud.points.size(); i++) {
        pcl::PointXYZRGBNormal point;
        point.x = xyz_cloud.points[i].x;
        point.y = xyz_cloud.points[i].y;
        point.z = xyz_cloud.points[i].z;
        point.rgb = xyz_cloud.points[i].rgb;
        point.normal_x = normal_cloud.points[i].normal_x;
        point.normal_y = normal_cloud.points[i].normal_y;
        point.normal_z = normal_cloud.points[i].normal_z;
        point.curvature = normal_cloud.points[i].curvature;
        concatenated_cloud.points[i] = point;
      }
      sensor_msgs::PointCloud2 output_cloud;
      pcl::toROSMsg(concatenated_cloud, output_cloud);
      output_cloud.header = xyz->header;
      pub_.publish(output_cloud);
    }
    
    void NormalConcatenater::onInit()
    {
      ConnectionBasedNodelet::onInit();
      pcl::console::setVerbosityLevel(pcl::console::L_ERROR);
      pnh_->param("use_async", use_async_, false);
      pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
      if (!pnh_->getParam("max_queue_size", maximum_queue_size_)) {
        maximum_queue_size_ = 100;
      }
    }
  
    void NormalConcatenater::subscribe()
    {
      sub_xyz_.subscribe(*pnh_, "input", 1);
      sub_normal_.subscribe(*pnh_, "normal", 1);
      if (use_async_) {
        async_ = boost::make_shared<message_filters::Synchronizer<ASyncPolicy> >(maximum_queue_size_);
        async_->connectInput(sub_xyz_, sub_normal_);
        async_->registerCallback(boost::bind(&NormalConcatenater::concatenate, this, _1, _2));
      }
      else {
        sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(maximum_queue_size_);
        sync_->connectInput(sub_xyz_, sub_normal_);
        sync_->registerCallback(boost::bind(&NormalConcatenater::concatenate, this, _1, _2));
      }
    }
  
    void NormalConcatenater::unsubscribe()
    {
      sub_xyz_.unsubscribe();
      sub_normal_.unsubscribe();
    }
    
  }
  
  PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::NormalConcatenater, nodelet::Nodelet);
  
  