uniform_sampling.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UNIFORM_SAMPLING_H_
#define JSK_PCL_ROS_UNIFORM_SAMPLING_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include <jsk_pcl_ros/UniformSamplingConfig.h>
#include <dynamic_reconfigure/server.h>
 
namespace jsk_pcl_ros
{
  class UniformSampling: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef UniformSamplingConfig Config;
    UniformSampling(): DiagnosticNodelet("UniformSampling") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config& config, uint32_t level);
    virtual void sampling(const sensor_msgs::PointCloud2::ConstPtr& msg);
 
    boost::mutex mutex_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    ros::Publisher pub_;
    ros::Subscriber sub_;
 
    double search_radius_;
  private:
    
  };
}
 
#endif