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

#include <boost/shared_ptr.hpp>

#include <dynamic_reconfigure/server.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>

#include <jsk_pcl_ros_utils/PointCloudToMaskImageConfig.h>

namespace jsk_pcl_ros_utils
{
  class PointCloudToMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef PointCloudToMaskImageConfig Config;
    PointCloudToMaskImage(): DiagnosticNodelet("PointCloudToMaskImage") { }
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config &config, uint32_t level);
    virtual void convert(const sensor_msgs::Image::ConstPtr& image_msg);
    virtual void convert(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);

    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    float z_near_, z_far_;
    boost::mutex mutex_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    ros::Subscriber sub_cloud_;
    ros::Subscriber sub_image_;
    ros::Publisher pub_;
  private:

  };
}  // namespace jsk_pcl_ros_utils

#endif  // JSK_PCL_ROS_UTILS_POINTCLOUD_TO_MASK_IMAGE_H_
