octree_voxel_grid.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_OCTREE_VOXEL_GRID_H_
#define JSK_PCL_ROS_OCTREE_VOXEL_GRID_H_
 
// ros
#include <ros/ros.h>
#include <ros/names.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/PointCloud2.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
 
// pcl
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>
#include <pcl/octree/octree_pointcloud.h>
#include "jsk_pcl_ros/OctreeVoxelGridConfig.h"
 
namespace jsk_pcl_ros
{
  class OctreeVoxelGrid : public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef jsk_pcl_ros::OctreeVoxelGridConfig Config;
    OctreeVoxelGrid(): DiagnosticNodelet("OctreeVoxelGrid") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config &config, uint32_t level);
    virtual void generateVoxelCloud(const sensor_msgs::PointCloud2ConstPtr& input);
    template <class PointT>
    void generateVoxelCloudImpl(const sensor_msgs::PointCloud2ConstPtr& input);
 
    ros::Subscriber sub_input_;
    ros::Publisher pub_cloud_;
    ros::Publisher pub_marker_;
    ros::Publisher pub_marker_array_;
    ros::Publisher pub_octree_resolution_;
 
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
 
    double resolution_;
    double marker_color_alpha_;
    
    bool publish_marker_flag_;
    std::string marker_color_;
  };
}
 
#endif // JSK_PCL_ROS_OCTREE_VOXEL_GRID_H_