// -*- mode: c++ -*-
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 *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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#ifndef JSK_PCL_ROS_NORMAL_ESTIMATION_INTEGRAL_IMAGE_H_
#define JSK_PCL_ROS_NORMAL_ESTIMATION_INTEGRAL_IMAGE_H_

#include <ros/ros.h>
#include <ros/names.h>
#include <sensor_msgs/PointCloud2.h>

#include <pcl_ros/pcl_nodelet.h>
#include <dynamic_reconfigure/server.h>
#include "jsk_pcl_ros/NormalEstimationIntegralImageConfig.h"
#include <jsk_topic_tools/connection_based_nodelet.h>

namespace jsk_pcl_ros
{
  class NormalEstimationIntegralImage:
    public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef jsk_pcl_ros::NormalEstimationIntegralImageConfig Config;    
  protected:
    ros::Subscriber sub_input_;
    ros::Publisher pub_;
    boost::mutex mutex_;
    int estimation_method_;
    bool depth_dependent_smoothing_;
    double max_depth_change_factor_;
    double normal_smoothing_size_;
    bool border_policy_ignore_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    virtual void configCallback (Config& config, uint32_t level);
    virtual void compute(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual void subscribe();
    virtual void unsubscribe();
  private:
    virtual void onInit();
  };
}

#endif
