cluster_point_indices_label_filter.h

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

#include <jsk_topic_tools/diagnostic_nodelet.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_recognition_msgs/ClusterPointIndices.h>
#include <jsk_recognition_msgs/LabelArray.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros_utils/ClusterPointIndicesLabelFilterConfig.h>

namespace jsk_pcl_ros_utils
{

  class ClusterPointIndicesLabelFilter: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    ClusterPointIndicesLabelFilter(): DiagnosticNodelet("ClusterPointIndicesLabelFilter")
    {
    }
    ~ClusterPointIndicesLabelFilter()
    {
      sync_.reset();
      srv_.reset();
    }
    typedef message_filters::sync_policies::ExactTime<
      jsk_recognition_msgs::ClusterPointIndices,
      jsk_recognition_msgs::LabelArray> SyncPolicy;
    typedef message_filters::sync_policies::ApproximateTime<
      jsk_recognition_msgs::ClusterPointIndices,
      jsk_recognition_msgs::LabelArray> ApproximateSyncPolicy;
    typedef jsk_pcl_ros_utils::ClusterPointIndicesLabelFilterConfig Config;
  protected:
    // methods
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config &config, uint32_t level);
    virtual void filter(const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& cluster_msg,
                        const jsk_recognition_msgs::LabelArray::ConstPtr& label_msg);

    // ROS variables
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;

    ros::Publisher pub_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
    message_filters::Subscriber<jsk_recognition_msgs::LabelArray> sub_labels_;

    boost::mutex mutex_;

    // parameters
    bool approximate_sync_;
    int label_value_;
    int queue_size_;

  private:
  };
}

#endif