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 PointCloud::Ptr PointCloudPtr;
    typedef PointCloud::ConstPtr 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_