Program Listing for File extract_clusters.hpp

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 * $Id: extract_clusters.h 35361 2011-01-20 04:34:49Z rusu $
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#ifndef PCL_ROS__SEGMENTATION__EXTRACT_CLUSTERS_HPP_
#define PCL_ROS__SEGMENTATION__EXTRACT_CLUSTERS_HPP_

#include <dynamic_reconfigure/server.h>
#include <pcl/segmentation/extract_clusters.h>
#include <limits>
#include "pcl_ros/pcl_nodelet.hpp"
#include "pcl_ros/EuclideanClusterExtractionConfig.hpp"

namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;


class EuclideanClusterExtraction : public PCLNodelet
{
public:
  EuclideanClusterExtraction()
  : publish_indices_(false), max_clusters_(std::numeric_limits<int>::max()) {}

protected:
  // ROS nodelet attributes
  bool publish_indices_;

  int max_clusters_;

  boost::shared_ptr<dynamic_reconfigure::Server<EuclideanClusterExtractionConfig>> srv_;

  void onInit();

  void subscribe();
  void unsubscribe();

  void config_callback(EuclideanClusterExtractionConfig & config, uint32_t level);

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

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

  ros::Subscriber sub_input_;

  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
};
}  // namespace pcl_ros

#endif  // PCL_ROS__SEGMENTATION__EXTRACT_CLUSTERS_HPP_