leaf_segmentation_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _leaf_segmentation_alg_node_h_
#define _leaf_segmentation_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "leaf_segmentation_alg.h"

// [publisher subscriber headers]
#include <iri_leaf_segmentation/ClusterSet.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/image_encodings.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>

// [service client headers]
#include <std_srvs/Empty.h>
#include <iri_leaf_segmentation/GetClusteredImage.h>
// [action server client headers]

// [PCL_ROS]                               
#include "pcl_ros/point_cloud.h"           
#include "pcl/point_types.h"               
#include "pcl/ros/register_point_struct.h" 
                                           
//pcl::toROSMsg                            
#include <pcl/io/pcd_io.h>                 

// [opencv2]                          
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include <cv_bridge/CvBridge.h> 
#include <cv_bridge/cv_bridge.h>

class LeafSegmentationAlgNode : public algorithm_base::IriBaseAlgorithm<LeafSegmentationAlgorithm>
{
  private:


    sensor_msgs::Image::ConstPtr rgb_image_;
    cv_bridge::CvImagePtr cv_ptr_;
   
    pcl::PointCloud<pcl::PointXYZRGB> pcl_xyzrgb_;
 
    // [publisher attributes]
    ros::Publisher cluster_set_publisher_;
    iri_leaf_segmentation::ClusterSet cluster_set_msg_;
    ros::Publisher output_image_publisher_;
    sensor_msgs::Image Image_msg_;

    // [subscriber attributes]

    // [service attributes]
    ros::ServiceServer get_clustered_image_srv_;
    bool get_clustered_image_srv_callback(iri_leaf_segmentation::GetClusteredImage::Request &req, iri_leaf_segmentation::GetClusteredImage::Response &res);

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

  public:
    LeafSegmentationAlgNode(void);

    ~LeafSegmentationAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif