region_growing_node.h

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#ifndef _REGION_GROWING_NODE_H_
#define _REGION_GROWING_NODE_H_

// ROS
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/LaserScan.h>
#include <visualization_msgs/Marker.h>

// PCL
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/surface/convex_hull.h>
#include <pcl/common/common.h>
#include <pcl_conversions/pcl_conversions.h>
//#include <pcl_ros.h>

// LAR
#include <pointcloud_segmentation/region_growing.h>
#include <pointcloud_segmentation/rviz_markers.h>

using namespace std;
using namespace pcl;

template<class T, class T1>
class region_growing_node
{
public:
    
    region_growing_node()
    {
    };
    
    ~region_growing_node()
    {
    };
    
    // VARIABLES
    
    PointCloud<T1> laser_scan;
    
    ros::Publisher * pub_markers_ptr;
    
    ros::Publisher * pub_markers_text_ptr;
    
    double min_cluster_size;
    
    double max_cluster_size;
    
    double clustering_tolerance;
    
    double radius;
    
    // FUNCTIONS
    
    void callback_cloud (const sensor_msgs::PointCloud2Ptr& msg);
    
    void callback_laser (const sensor_msgs::PointCloud2Ptr& msg);
    
};

#include "region_growing_node.hpp"

#endif