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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
namespace jsk_pcl_ros
{
  class ROIClipper: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
    sensor_msgs::Image,
    sensor_msgs::CameraInfo > SyncPolicy;
    ROIClipper(): DiagnosticNodelet("ROIClipper") {}
    
  protected:
    virtual void onInit();
    virtual void clip(const sensor_msgs::Image::ConstPtr& image_msg,
                      const sensor_msgs::CameraInfo::ConstPtr& camera_info_msg);
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    virtual void imageCallback(
      const sensor_msgs::Image::ConstPtr& image_msg);
    virtual void infoCallback(
      const sensor_msgs::CameraInfo::ConstPtr& info_msg);
    virtual void cloudCallback(
      const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
    
    boost::mutex mutex_;
    bool not_sync_;
    bool keep_organized_;
    ros::Publisher pub_image_;
    ros::Publisher pub_cloud_;
    message_filters::Subscriber<sensor_msgs::Image> sub_image_;
    message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    ros::Subscriber sub_image_no_sync_;
    ros::Subscriber sub_info_no_sync_;
    ros::Subscriber sub_cloud_no_sync_;
    sensor_msgs::CameraInfo::ConstPtr latest_camera_info_;
  private:
  };
}

#endif
