// -*- mode: C++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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#ifndef JSK_PCL_ROS_REGION_GROWING_SEGMENTATION_H_
#define JSK_PCL_ROS_REGION_GROWING_SEGMENTATION_H_

#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/search/search.h>
#include <pcl/search/kdtree.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/passthrough.h>
#include <pcl/segmentation/region_growing.h>

#include <dynamic_reconfigure/server.h>
#include "jsk_pcl_ros/RegionGrowingSegmentationConfig.h"
#include <jsk_topic_tools/connection_based_nodelet.h>
namespace jsk_pcl_ros
{
  class RegionGrowingSegmentation:
    public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
  protected:
    ros::Publisher pub_;
    ros::Subscriber sub_;
    int number_of_neighbors_;
    int min_size_;
    int max_size_;
    double smoothness_threshold_;
    double curvature_threshold_;
    typedef jsk_pcl_ros::RegionGrowingSegmentationConfig Config;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
    virtual void segment(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual void configCallback (Config &config, uint32_t level);
    virtual void subscribe();
    virtual void unsubscribe();
  private:
    virtual void onInit();
  };
}

#endif
