segment_plane_nodelet.h

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#ifndef _segment_plane_h_
#define _segment_plane_h_

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

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

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

// segmentation
#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>

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

// Segmentation
#include <pcl/segmentation/extract_polygonal_prism_data.h>
#include <pcl/surface/convex_hull.h>

// clustering
//#include <pcl/segmentation/extract_clusters.h>
//#include <pcl/kdtree/kdtree_flann.h>

// downsampling
#include <pcl/filters/voxel_grid.h>

// crop
#include <pcl/filters/passthrough.h>



namespace iri_clean_board
{

class SegmentPlane : public nodelet::Nodelet
{
  private:
    // [publisher attributes]
    ros::Publisher segmented_pointcloud_publisher_pointclouds_;
    sensor_msgs::PointCloud2 PointCloud2_msg_;

    // [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
    int table_segmentation_downsample;
    double table_segmentation_min_height;
    double table_segmentation_max_height;
    double table_segmentation_height;

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr getBiggestPlane (pcl::PointCloud<pcl::PointXYZ>::Ptr clouda, pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_rgb);
    
    void pcCallback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    
  public:
    virtual void onInit();


};

}

#endif