segment_differences.h

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 * $Id: segment_differences.h 35361 2011-01-20 04:34:49Z rusu $
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#ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_
#define PCL_ROS_SEGMENT_DIFFERENCES_H_
 
#include <pcl/segmentation/segment_differences.h>
#include "pcl_ros/pcl_nodelet.h"
 
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/SegmentDifferencesConfig.h"
 
 
namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;
 
 
  class SegmentDifferences : public PCLNodelet
  {
    typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
 
    public:
      SegmentDifferences () {};
                                      
    protected:
      message_filters::Subscriber<PointCloud> sub_target_filter_;
 
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud> > > sync_input_target_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud> > > sync_input_target_a_;
 
      boost::shared_ptr<dynamic_reconfigure::Server<SegmentDifferencesConfig> > srv_;
 
      void onInit ();
 
      void subscribe ();
      void unsubscribe ();
 
      void config_callback (SegmentDifferencesConfig &config, uint32_t level);
 
      void input_target_callback (const PointCloudConstPtr &cloud, 
                                  const PointCloudConstPtr &cloud_target);
 
    private:
      pcl::SegmentDifferences<pcl::PointXYZ> impl_;
 
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}
 
#endif  //#ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_