convex_hull.h

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 * $Id: convex_hull.h 36116 2011-02-22 00:05:23Z rusu $
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#ifndef PCL_ROS_CONVEX_HULL_2D_H_
#define PCL_ROS_CONVEX_HULL_2D_H_

#include "pcl_ros/pcl_nodelet.h"

// PCL includes
#include <pcl/surface/convex_hull.h>

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>

namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;

  class ConvexHull2D : public PCLNodelet
  {
    typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
    typedef PointCloud::Ptr PointCloudPtr;
    typedef PointCloud::ConstPtr PointCloudConstPtr;

    private:
      virtual void onInit ();

      virtual void subscribe ();
      virtual void unsubscribe ();

      void input_indices_callback (const PointCloudConstPtr &cloud, 
                                   const PointIndicesConstPtr &indices);

    private:
      pcl::ConvexHull<pcl::PointXYZ> impl_;

      ros::Subscriber sub_input_;

      ros::Publisher pub_plane_;

      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_CONVEX_HULL_2D_H_