extract_indices.h

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

#include "jsk_topic_tools/diagnostic_nodelet.h"
#include "jsk_recognition_utils/pcl_conversion_util.h"

#include <sensor_msgs/PointCloud2.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>


namespace jsk_pcl_ros
{
  class ExtractIndices: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
      PCLIndicesMsg,
      sensor_msgs::PointCloud2 > SyncPolicy;
    typedef message_filters::sync_policies::ApproximateTime<
      PCLIndicesMsg,
      sensor_msgs::PointCloud2 > ApproximateSyncPolicy;

    ExtractIndices(): DiagnosticNodelet("ExtractIndices") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void convert(
      const PCLIndicesMsg::ConstPtr& indices_msg,
      const sensor_msgs::PointCloud2::ConstPtr& msg);

    bool keep_organized_;
    bool negative_;
    int max_queue_size_;
    bool approximate_sync_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> >async_;
    ros::Publisher pub_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
    message_filters::Subscriber<PCLIndicesMsg> sub_indices_;
  private:
  };

}

#endif