extract_clusters.h

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 * $Id: extract_clusters.h 35361 2011-01-20 04:34:49Z rusu $
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#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
#define PCL_ROS_EXTRACT_CLUSTERS_H_
 
#include <pcl/segmentation/extract_clusters.h>
#include "pcl_ros/pcl_nodelet.h"
 
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/EuclideanClusterExtractionConfig.h"
 
namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;
 
 
  class EuclideanClusterExtraction : public PCLNodelet
  {
    public:
      EuclideanClusterExtraction () : publish_indices_ (false), max_clusters_ (std::numeric_limits<int>::max ()) {};
                                      
    protected:
      // ROS nodelet attributes
      bool publish_indices_;
 
      int max_clusters_;
 
      boost::shared_ptr<dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > srv_;
 
      void onInit ();
 
      void subscribe ();
      void unsubscribe ();
 
      void config_callback (EuclideanClusterExtractionConfig &config, uint32_t level);
 
      void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices);
 
    private:
      pcl::EuclideanClusterExtraction<pcl::PointXYZ> impl_;
 
      ros::Subscriber sub_input_;
 
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > >       sync_input_indices_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_;
 
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}
 
#endif  //#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_