Add cloud accumulated

orbbec_camera/include/orbbec_camera/cloud_accumulated.h

@@ -0,0 +1,34 @@
+/*******************************************************************************
+ * Copyright (c) 2023 Orbbec 3D Technology, Inc
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *******************************************************************************/
+#pragma once
+#include <rclcpp/rclcpp.hpp>
+#include "sensor_msgs/msg/point_cloud2.hpp"
+#include "utils.h"
+
+namespace orbbec_camera {
+namespace orbbec_lidar {
+class CloudAccumulated {
+ public:
+  explicit CloudAccumulated(rclcpp::Node* const node, rmw_qos_profile_t cloud_qos,
+                            int cloud_accumulation_count);
+  ~CloudAccumulated();
+
+ private:
+  rclcpp::Node* node_;
+  rclcpp::Logger logger_;
+};
+}  // namespace orbbec_lidar
+}  // namespace orbbec_camera

orbbec_camera/include/orbbec_camera/ob_lidar_node.h

@@ -251,6 +251,9 @@ class OBLidarNode {
   int filter_level_ = -1;
   float vertical_fov_ = -1;
   double angle_increment_ = 0.0;
+  bool enable_cloud_accumulated_ = false;
+  int cloud_accumulation_count_ = -1;
+  std::unique_ptr<CloudAccumulated> cloud_accumulated_ = nullptr;
 };
 
 }  // namespace orbbec_lidar