extract_polygonal_prism_data.h

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 * $Id: extract_polygonal_prism_data.h 35361 2011-01-20 04:34:49Z rusu $
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#ifndef PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_
#define PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_

#include "pcl_ros/pcl_nodelet.h"
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/pass_through.h>

// PCL includes
#include <pcl/segmentation/extract_polygonal_prism_data.h>

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/ExtractPolygonalPrismDataConfig.h"

namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;

  class ExtractPolygonalPrismData : public PCLNodelet
  {
    typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
    typedef PointCloud::Ptr PointCloudPtr;
    typedef PointCloud::ConstPtr PointCloudConstPtr;

    protected:
      ros::Publisher pub_output_;

      message_filters::Subscriber<PointCloud> sub_hull_filter_;

      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud, PointIndices> > > sync_input_hull_indices_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud, PointIndices> > > sync_input_hull_indices_a_;

      boost::shared_ptr<dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig> > srv_;

      message_filters::PassThrough<PointIndices> nf_;

      inline void
      input_callback (const PointCloudConstPtr &input)
      {
        PointIndices cloud;
        cloud.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
        nf_.add (boost::make_shared<PointIndices> (cloud));
      }

      void onInit ();

      void subscribe ();
      void unsubscribe ();

      void config_callback (ExtractPolygonalPrismDataConfig &config, uint32_t level);

      void input_hull_indices_callback (const PointCloudConstPtr &cloud, 
                                        const PointCloudConstPtr &hull, 
                                        const PointIndicesConstPtr &indices);

    private:
      pcl::ExtractPolygonalPrismData<pcl::PointXYZ> impl_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_