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

#include <pcl_ros/pcl_nodelet.h>
#include <sensor_msgs/PointCloud2.h>
#include <jsk_recognition_msgs/PointsArray.h>

namespace jsk_pcl_ros
{
  class PointCloudData
  {
  public:
    typedef boost::shared_ptr<PointCloudData> Ptr;
    PointCloudData(const std::string fname);
    virtual ~PointCloudData() { };
    virtual pcl::PointCloud<pcl::PointXYZRGB>::Ptr
    getPointCloud();
    virtual sensor_msgs::PointCloud2 
    getROSPointCloud(ros::Time stamp);

  protected:
    const std::string file_name_;
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_;
  private:
  };

  class PointcloudDatabaseServer: public pcl_ros::PCLNodelet
  {
  public:
    virtual ~PointcloudDatabaseServer();
  protected:
    virtual void onInit();
    virtual void timerCallback(const ros::TimerEvent& event);
    // virtual void registerPointcloud();
    // virtual void removePointcloud();
    // virtual void listPointcloud();
    ros::Publisher pub_points_;
    ros::Timer timer_;
    std::vector<PointCloudData::Ptr> point_clouds_;

  private:
  };
}

#endif
