voxel_grid_large_scale.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/PointCloud2.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros/VoxelGridLargeScaleConfig.h>

namespace jsk_pcl_ros
{
  class VoxelGridLargeScale: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef VoxelGridLargeScaleConfig Config;
    VoxelGridLargeScale(): DiagnosticNodelet("VoxelGridLargeScale") { }
  protected:
    virtual void onInit();
    virtual void filter(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config& config, uint32_t level);

    boost::mutex mutex_;
    ros::Subscriber sub_;
    ros::Publisher pub_;
    double leaf_size_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
  private:
    
  };
}

#endif