tf_transform_cloud.h

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// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_UTILS_TF_TRANSFORMCLOUD_H_
#define JSK_PCL_ROS_UTILS_TF_TRANSFORMCLOUD_H_

// ros
#include <ros/ros.h>
#include <ros/names.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_broadcaster.h>
#include <pcl_ros/transforms.h>

// pcl
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include "jsk_recognition_utils/tf_listener_singleton.h"

#include <tf/message_filter.h>
#include <message_filters/subscriber.h>

namespace jsk_pcl_ros_utils
{
  class TfTransformCloud: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    TfTransformCloud(): DiagnosticNodelet("TfTransformCloud") {}
  protected:
    ros::Subscriber sub_cloud_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_message_filters_;
    ros::Publisher  pub_cloud_;
    std::string target_frame_id_;
    tf::TransformListener* tf_listener_;
    boost::shared_ptr<tf::MessageFilter<sensor_msgs::PointCloud2> > tf_filter_;
    virtual void transform(const sensor_msgs::PointCloud2ConstPtr &input);
    virtual void subscribe();
    virtual void unsubscribe();
    
    double duration_;
    bool use_latest_tf_;
    int tf_queue_size_;
  private:
    virtual void onInit();
  };
}

#endif