text: // -*- mode: c++ -*-
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  #ifndef JSK_PCL_ROS_UTILS_TF_TRANFORM_BOUNDING_BOX_H_
  #define JSK_PCL_ROS_UTILS_TF_TRANFORM_BOUNDING_BOX_H_
  
  
  #include <jsk_topic_tools/diagnostic_nodelet.h>
  #include <jsk_recognition_msgs/BoundingBox.h>
  
  #include "jsk_recognition_utils/tf_listener_singleton.h"
  #include <message_filters/subscriber.h>
  #include <tf/message_filter.h>
  
  namespace jsk_pcl_ros_utils
  {
  
    class TfTransformBoundingBox: public jsk_topic_tools::DiagnosticNodelet
    {
    public:
      TfTransformBoundingBox(): DiagnosticNodelet("TfTransformBoundingBox") {}
    protected:
      virtual void onInit();
      virtual void subscribe();
      virtual void unsubscribe();
      virtual void transform(const jsk_recognition_msgs::BoundingBox::ConstPtr& msg);
      
      ros::Subscriber sub_;
      message_filters::Subscriber<jsk_recognition_msgs::BoundingBox> sub_filter_;
      ros::Publisher pub_;
      std::string target_frame_id_;
      tf::TransformListener* tf_listener_;
      boost::shared_ptr<tf::MessageFilter<jsk_recognition_msgs::BoundingBox> > tf_filter_;
      bool use_latest_tf_;
      int tf_queue_size_;
    };
  }
  
  
  #endif
  