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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>
#include <opencv2/opencv.hpp>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>


namespace jsk_pcl_ros
{
  class MaskImageClusterFilter: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    MaskImageClusterFilter(): DiagnosticNodelet("MaskImageClusterFilter") {}
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::PointCloud2,
      jsk_recognition_msgs::ClusterPointIndices > SyncPolicy;

  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void concat(
      const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
      const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices);
    virtual void imageCalback(
      const sensor_msgs::Image::ConstPtr& mask_msg);
    virtual void infoCalback(
      const sensor_msgs::CameraInfo::ConstPtr& info_ms);

    boost::mutex mutex_;
    ros::Publisher pub_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_target_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    ros::Subscriber sub_image_;
    ros::Subscriber sub_info_;
    cv::Mat mask_image_;
    sensor_msgs::CameraInfo::ConstPtr camera_info_;
    
  private:
    
  };
}

#endif
