selected_cluster_publisher.h

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

#include <pcl_ros/pcl_nodelet.h>
#include <pcl_ros/point_cloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <jsk_recognition_msgs/Int32Stamped.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <jsk_topic_tools/connection_based_nodelet.h>

namespace jsk_pcl_ros
{
  class SelectedClusterPublisher: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::Int32Stamped> SyncPolicy;
  protected:
    ros::Publisher pub_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
    message_filters::Subscriber<jsk_recognition_msgs::Int32Stamped> sub_index_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;

    virtual void extract(const sensor_msgs::PointCloud2::ConstPtr& input,
                         const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices,
                         const jsk_recognition_msgs::Int32Stamped::ConstPtr& index);
    virtual void subscribe();
    virtual void unsubscribe();
  private:
    virtual void onInit();
    
    bool keep_organized_;
  };
  
}

#endif