extract_cuboid_particles_top_n.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include "jsk_pcl_ros/plane_supported_cuboid_estimator.h"
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros/ExtractParticlesTopNBaseConfig.h>
#include <pcl/pcl_base.h>
#include <pcl/impl/pcl_base.hpp>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/impl/extract_indices.hpp>
#include <jsk_recognition_msgs/WeightedPoseArray.h>
#include <jsk_recognition_msgs/BoundingBoxArray.h>

namespace jsk_pcl_ros
{
  template <class PARTICLE_T>
  bool compareParticleWeight(const PARTICLE_T& a, const PARTICLE_T& b)
  {
    return a.weight > b.weight;
  }

  
  class ExtractCuboidParticlesTopN: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<ExtractCuboidParticlesTopN> Ptr;
    typedef ExtractParticlesTopNBaseConfig Config;
    ExtractCuboidParticlesTopN(): DiagnosticNodelet("ExtractCuboidParticlesTopN") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void extract(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual void publishBoxArray(
      const pcl::PointCloud<pcl::tracking::ParticleCuboid>& particles,
      const std_msgs::Header& header);
    virtual void publishPoseArray(
      const pcl::PointCloud<pcl::tracking::ParticleCuboid>& particles,
      const std_msgs::Header& header);
    virtual void configCallback(Config& config, uint32_t level);
    
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Publisher pub_box_array_;
    ros::Publisher pub_pose_array_;
    ros::Subscriber sub_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    double top_n_ratio_;
    
  private:
    
  };
  
}

#endif