// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_ADD_COLOR_FROM_IMAGE_H_
#define JSK_PCL_ROS_ADD_COLOR_FROM_IMAGE_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 <message_filters/sync_policies/approximate_time.h>

#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>

namespace jsk_pcl_ros
{
  class AddColorFromImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ApproximateTime<
    sensor_msgs::PointCloud2,
    sensor_msgs::Image,
    sensor_msgs::CameraInfo
    > SyncPolicy;
    AddColorFromImage(): DiagnosticNodelet("AddColorFromImage") { }
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void addColor(
      const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
      const sensor_msgs::Image::ConstPtr& image_msg,
      const sensor_msgs::CameraInfo::ConstPtr& info_msg);
    
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_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::Publisher pub_;
  private:
    
  };
}

#endif
