organize_pointcloud.h

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// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_ORGANIZE_POINTCLOUD_H_
#define JSK_PCL_ROS_ORGANIZE_POINTCLOUD_H_

// ros
#include <ros/ros.h>
#include <ros/names.h>
#include <sensor_msgs/PointCloud2.h>

// pcl
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/range_image/range_image.h>

#include <jsk_topic_tools/connection_based_nodelet.h>

namespace jsk_pcl_ros
{
  class OrganizePointCloud: public jsk_topic_tools::ConnectionBasedNodelet
  {
  protected:
    double angular_resolution, angle_width, angle_height;
    int min_points;
    ros::Subscriber sub_;
    ros::Publisher pub_;
    virtual void extract(const sensor_msgs::PointCloud2ConstPtr &input);
    virtual void subscribe();
    virtual void unsubscribe();
  private:
    virtual void onInit();
  };
}

#endif