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 * $Id: extract_clusters.h 35361 2011-01-20 04:34:49Z rusu $
 *
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#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
#define PCL_ROS_EXTRACT_CLUSTERS_H_

#include <pcl/segmentation/extract_clusters.h>
#include "pcl_ros/pcl_nodelet.h"

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/EuclideanClusterExtractionConfig.h"

namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;

  ////////////////////////////////////////////////////////////////////////////////////////////
  ////////////////////////////////////////////////////////////////////////////////////////////
  /** \brief @b EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense.
    * \author Radu Bogdan Rusu
    */
  class EuclideanClusterExtraction : public PCLNodelet
  {
    public:
      /** \brief Empty constructor. */
      EuclideanClusterExtraction () : publish_indices_ (false), max_clusters_ (std::numeric_limits<int>::max ()) {};
                                      
    protected:
      // ROS nodelet attributes
      /** \brief Publish indices or convert to PointCloud clusters. Default: false */
      bool publish_indices_;

      /** \brief Maximum number of clusters to publish. */
      int max_clusters_;

      /** \brief Pointer to a dynamic reconfigure service. */
      boost::shared_ptr<dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > srv_;

      /** \brief Nodelet initialization routine. */
      void onInit ();

      /** \brief LazyNodelet connection routine. */
      void subscribe ();
      void unsubscribe ();

      /** \brief Dynamic reconfigure callback
        * \param config the config object
        * \param level the dynamic reconfigure level
        */
      void config_callback (EuclideanClusterExtractionConfig &config, uint32_t level);

      /** \brief Input point cloud callback. 
        * \param cloud the pointer to the input point cloud
        * \param indices the pointer to the input point cloud indices
        */
      void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices);

    private:
      /** \brief The PCL implementation used. */
      pcl::EuclideanClusterExtraction<pcl::PointXYZ> impl_;

      /** \brief The input PointCloud subscriber. */
      ros::Subscriber sub_input_;

      /** \brief Synchronized input, and indices.*/
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > >       sync_input_indices_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
