pointcloud_to_point_indices.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/PointCloud2.h>

namespace jsk_pcl_ros_utils
{
  class PointCloudToPointIndices: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    PointCloudToPointIndices(): DiagnosticNodelet("PointCloudToPointIndices") { }
  protected:
    // methods
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void convert(const sensor_msgs::PointCloud2::ConstPtr& point_msg);

    // ROS variables
    ros::Subscriber sub_;
    ros::Publisher pub_;
  private:
  };
}  // namespace jsk_pcl_ros_utils

#endif  // JSK_PCL_ROS_UTILS_POINTCLOUD_TO_POINT_INDICES_H_