polygon_array_unwrapper.h

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

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>

#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/PolygonStamped.h>
#include <jsk_pcl_ros_utils/PolygonArrayUnwrapperConfig.h>
#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
#include <jsk_topic_tools/connection_based_nodelet.h>


namespace jsk_pcl_ros_utils
{
  class PolygonArrayUnwrapper: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef PolygonArrayUnwrapperConfig Config;
    typedef message_filters::sync_policies::ExactTime<
    jsk_recognition_msgs::PolygonArray,
    jsk_recognition_msgs::ModelCoefficientsArray>
    SyncPolicy;

  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config &config, uint32_t level);
    virtual void unwrap(
      const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon,
      const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients);
    boost::mutex mutex_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon_;
    message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
    ros::Publisher pub_polygon_;
    ros::Publisher pub_coefficients_;
    bool use_likelihood_;
    size_t plane_index_;
  private:
    
  };
}

#endif