pointcloud_to_cluster_point_indices.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_POINTCLOUD_TO_CLUSTER_POINT_INDICES_H_
#define JSK_PCL_ROS_UTILS_POINTCLOUD_TO_CLUSTER_POINT_INDICES_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include <sensor_msgs/PointCloud2.h>
 
namespace jsk_pcl_ros_utils
{
  class PointCloudToClusterPointIndices: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    PointCloudToClusterPointIndices(): DiagnosticNodelet("PointCloudToClusterPointIndices") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void convert(const sensor_msgs::PointCloud2::ConstPtr& msg);
    
    ros::Subscriber sub_;
    ros::Publisher pub_;
 
    bool skip_nan_;
 
  private:
  };
 
}
 
#endif