pointcloud_to_image_nodelet.h

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#ifndef _pointcloud_to_image_h_
#define _pointcloud_to_image_h_

#include <nodelet/nodelet.h>
#include <ros/ros.h>

// [publisher subscriber headers]
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>

#include <pcl/point_cloud.h>
//#include <pcl_ros/point_cloud.h>

#include <pcl/io/pcd_io.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/filters/project_inliers.h>

// opencv
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

// cvmat to rosmsg
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>



namespace iri_clean_board
{

class PointcloudToImage : public nodelet::Nodelet
{
  private:
    // [publisher attributes]
    sensor_msgs::ImagePtr Image_msg_;
    ros::Publisher segmented_pointcloud_publisher_images_;

    // [subscriber attributes]
    ros::Subscriber input_pointcloud_subscriber_;
    void input_pointcloud_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    
    // node parameters
    

    cv::Mat pointcloud_to_image(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud);
    
    sensor_msgs::ImagePtr cvimage_to_rosimage(cv::Mat cvimage);
    
    void pcCallback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    
  public:
    virtual void onInit();


};

}

#endif