heightmap_to_pointcloud.h

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


#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <dynamic_reconfigure/server.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include "jsk_pcl_ros/heightmap_utils.h"

namespace jsk_pcl_ros
{
  class HeightmapToPointCloud: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<HeightmapToPointCloud> Ptr;
    HeightmapToPointCloud(): DiagnosticNodelet("HeightmapToPointCloud") {}
    
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void convert(const sensor_msgs::Image::ConstPtr& msg);
    virtual void configCallback(
      const jsk_recognition_msgs::HeightmapConfig::ConstPtr& msg);
    jsk_recognition_msgs::HeightmapConfig::ConstPtr config_msg_;
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Publisher pub_config_;
    ros::Subscriber sub_;
    ros::Subscriber sub_config_;
    double min_x_;
    double max_x_;
    double min_y_;
    double max_y_;
  };
}


#endif