text: // -*- mode: c++ -*-
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  #include <jsk_topic_tools/log_utils.h>
  #include "jsk_pcl_ros_utils/transform_pointcloud_in_bounding_box.h"
  #include <eigen_conversions/eigen_msg.h>
  #include "jsk_recognition_utils/pcl_conversion_util.h"
  #include <pcl/common/transforms.h>
  
  namespace jsk_pcl_ros_utils
  {  
    void TransformPointcloudInBoundingBox::onInit()
    {
      PCLNodelet::onInit();
      tf_listener_ = jsk_recognition_utils::TfListenerSingleton::getInstance();
      ////////////////////////////////////////////////////////
      // pulishers
      ////////////////////////////////////////////////////////
      pub_cloud_ = pnh_->advertise<sensor_msgs::PointCloud2>("output", 1);
      pub_offset_pose_ = pnh_->advertise<geometry_msgs::PoseStamped>(
        "output_offset", 1);
  
      ////////////////////////////////////////////////////////
      // Subscription
      ////////////////////////////////////////////////////////
      sub_input_.subscribe(*pnh_, "input", 1);
      sub_box_.subscribe(*pnh_, "input_box", 1);
      sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
      sync_->connectInput(sub_input_, sub_box_);
      sync_->registerCallback(boost::bind(
                                &TransformPointcloudInBoundingBox::transform,
                                this, _1, _2));
    }
  
    void TransformPointcloudInBoundingBox::transform(
      const sensor_msgs::PointCloud2::ConstPtr& msg,
      const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg)
    {
      try
      {
        pcl::PointCloud<PointT> output;
        Eigen::Affine3f offset;
        transformPointcloudInBoundingBox<PointT>(
          *box_msg, *msg,
          output, offset,
          *tf_listener_);
        sensor_msgs::PointCloud2 ros_output;
        pcl::toROSMsg(output, ros_output);
        pub_cloud_.publish(ros_output);
        //pub_offset_pose_.publish(box_pose_respected_to_cloud);
      }
      catch (tf2::ConnectivityException &e)
      {
        NODELET_ERROR("[%s] Transform error: %s", __PRETTY_FUNCTION__, e.what());
      }
      catch (tf2::InvalidArgumentException &e)
      {
        NODELET_ERROR("[%s] Transform error: %s", __PRETTY_FUNCTION__, e.what());
      }
    }
  }
  
  #include <pluginlib/class_list_macros.h>
  PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::TransformPointcloudInBoundingBox,
                          nodelet::Nodelet);
  