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

// ros
#include <ros/ros.h>
#include <ros/names.h>
#include <sensor_msgs/PointCloud2.h>
#include <visualization_msgs/Marker.h>
#include "jsk_recognition_msgs/SlicedPointCloud.h"
// pcl
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>

#include <jsk_topic_tools/connection_based_nodelet.h>

namespace jsk_pcl_ros
{
  class VoxelGridDownsampleDecoder :
    public jsk_topic_tools::ConnectionBasedNodelet
  {
  protected:
    tf::TransformListener tf_listener;
    // utility
    int getPointcloudID(const jsk_recognition_msgs::SlicedPointCloudConstPtr &input);
    int getPointcloudSequenceID(const jsk_recognition_msgs::SlicedPointCloudConstPtr &input);
    std::string getPointcloudFrameId(const jsk_recognition_msgs::SlicedPointCloudConstPtr &input);
    virtual void subscribe();
    virtual void unsubscribe();
  private:
    int latest_sequence_id_;
    int previous_id_;
    void publishBuffer();
    std::vector<jsk_recognition_msgs::SlicedPointCloudConstPtr> pc_buffer_;
    void pointCB(const jsk_recognition_msgs::SlicedPointCloudConstPtr &input);
    ros::Subscriber sub_;
    ros::Publisher pub_;
    virtual void onInit();
  };
}

#endif  // JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_H
