cloud_on_plane.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_CLOUD_ON_PLANE_H_
#define JSK_PCL_ROS_UTILS_CLOUD_ON_PLANE_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_recognition_utils/geo/convex_polygon.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <jsk_pcl_ros_utils/CloudOnPlaneConfig.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_recognition_msgs/BoolStamped.h>
#include <jsk_recognition_utils/pcl_util.h>

namespace jsk_pcl_ros_utils
{
  class CloudOnPlane: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<CloudOnPlane> Ptr;
    typedef CloudOnPlaneConfig Config;
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::PointCloud2,
      jsk_recognition_msgs::PolygonArray > SyncPolicy;
    typedef message_filters::sync_policies::ApproximateTime<
      sensor_msgs::PointCloud2,
      jsk_recognition_msgs::PolygonArray> ApproximateSyncPolicy;

    CloudOnPlane(): DiagnosticNodelet("CloudOnPlane") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void predicate(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
                           const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg);
    virtual void configCallback(Config& config, uint32_t level);
    virtual void publishPredicate(const std_msgs::Header& header, const bool v);
    
    ros::Publisher pub_;
    boost::mutex mutex_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_;
    bool approximate_sync_;
    double distance_thr_;
    int buf_size_;
    jsk_recognition_utils::SeriesedBoolean::Ptr buffer_;
  private:
    
  };
}

#endif