subtract_point_indices.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_SUBTRACT_POINT_INDICES_H_
#define JSK_PCL_ROS_UTILS_SUBTRACT_POINT_INDICES_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>

#include "jsk_recognition_utils/pcl_conversion_util.h"
#include "jsk_recognition_utils/pcl_util.h"

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>

namespace jsk_pcl_ros_utils
{
  class SubtractPointIndices: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
    PCLIndicesMsg,
    PCLIndicesMsg > SyncPolicy;
    typedef message_filters::sync_policies::ApproximateTime<
    PCLIndicesMsg,
    PCLIndicesMsg > ASyncPolicy;

    SubtractPointIndices(): DiagnosticNodelet("SubtractPointIndices") {}

  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void subtract(
      const PCLIndicesMsg::ConstPtr& src1,
      const PCLIndicesMsg::ConstPtr& src2);

    ros::Publisher pub_;
    message_filters::Subscriber<PCLIndicesMsg> sub_src1_;
    message_filters::Subscriber<PCLIndicesMsg> sub_src2_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<ASyncPolicy> > async_;
    bool approximate_sync_;
  private:

  };
}

#endif