point_indices_to_mask_image.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_POINT_INDICES_TO_MASK_IMAGE_H_
#define JSK_PCL_ROS_UTILS_POINT_INDICES_TO_MASK_IMAGE_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
 
namespace jsk_pcl_ros_utils
{
  class PointIndicesToMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ApproximateTime<
    PCLIndicesMsg,
    sensor_msgs::Image > ApproximateSyncPolicy;
    typedef message_filters::sync_policies::ExactTime<
      PCLIndicesMsg,
      sensor_msgs::Image > SyncPolicy;
 
    PointIndicesToMaskImage(): DiagnosticNodelet("PointIndicesToMaskImage") { }
    virtual ~PointIndicesToMaskImage();
  protected:
    // methods
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void convertAndPublish(
      const PCLIndicesMsg::ConstPtr& indices_msg,
      const int width,
      const int height);
    virtual void mask(
      const PCLIndicesMsg::ConstPtr& indices_msg);
    virtual void mask(
      const PCLIndicesMsg::ConstPtr& indices_msg,
      const sensor_msgs::Image::ConstPtr& image_msg);
  
    // ROS variables
    bool approximate_sync_;
    int queue_size_;
    bool static_image_size_;
    int width_;
    int height_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> >async_; 
    ros::Subscriber sub_input_static_;
    message_filters::Subscriber<PCLIndicesMsg> sub_input_;
    message_filters::Subscriber<sensor_msgs::Image> sub_image_;
    ros::Publisher pub_;
  private:
  
  };
}
 
#endif