segment_differences.h
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00001 /*
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00034  * $Id: segment_differences.h 35361 2011-01-20 04:34:49Z rusu $
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00037 
00038 #ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_
00039 #define PCL_ROS_SEGMENT_DIFFERENCES_H_
00040 
00041 #include <pcl/segmentation/segment_differences.h>
00042 #include "pcl_ros/pcl_nodelet.h"
00043 
00044 // Dynamic reconfigure
00045 #include <dynamic_reconfigure/server.h>
00046 #include "pcl_ros/SegmentDifferencesConfig.h"
00047 
00048 
00049 namespace pcl_ros
00050 {
00051   namespace sync_policies = message_filters::sync_policies;
00052 
00056 
00060   class SegmentDifferences : public PCLNodelet
00061   {
00062     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
00063     typedef PointCloud::Ptr PointCloudPtr;
00064     typedef PointCloud::ConstPtr PointCloudConstPtr;
00065 
00066     public:
00068       SegmentDifferences () {};
00069                                       
00070     protected:
00072       message_filters::Subscriber<PointCloud> sub_target_filter_;
00073 
00075       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud> > > sync_input_target_e_;
00076       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud> > > sync_input_target_a_;
00077 
00079       boost::shared_ptr<dynamic_reconfigure::Server<SegmentDifferencesConfig> > srv_;
00080 
00082       void onInit ();
00083 
00088       void config_callback (SegmentDifferencesConfig &config, uint32_t level);
00089 
00094       void input_target_callback (const PointCloudConstPtr &cloud, 
00095                                   const PointCloudConstPtr &cloud_target);
00096 
00097     private:
00099       pcl::SegmentDifferences<pcl::PointXYZ> impl_;
00100 
00101     public:
00102       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00103   };
00104 }
00105 
00106 #endif  //#ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:41