interactive_cuboid_likelihood.h

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

#include "jsk_pcl_ros/plane_supported_cuboid_estimator.h"
#include <interactive_markers/interactive_marker_server.h>
#include <jsk_pcl_ros/InteractiveCuboidLikelihoodConfig.h>
#include <dynamic_reconfigure/server.h>
#include <visualization_msgs/Marker.h>
#include <std_msgs/Float32.h>

namespace jsk_pcl_ros
{
  class InteractiveCuboidLikelihood: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<InteractiveCuboidLikelihood> Ptr;
    typedef InteractiveCuboidLikelihoodConfig Config;
    typedef pcl::tracking::ParticleCuboid Particle;
    InteractiveCuboidLikelihood(): DiagnosticNodelet("InteractiveCuboidLikelihood") {}
    
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void likelihood(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual void processFeedback(const visualization_msgs::InteractiveMarkerFeedback::ConstPtr& feedback);
    virtual void processPlaneFeedback(const visualization_msgs::InteractiveMarkerFeedback::ConstPtr& feedback);
    virtual void configCallback(Config& config, uint32_t level);
    virtual visualization_msgs::Marker particleToMarker(const Particle& p);
    virtual visualization_msgs::InteractiveMarker particleToInteractiveMarker(const Particle& p);
    virtual visualization_msgs::InteractiveMarker planeInteractiveMarker();
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Subscriber sub_;
    Eigen::Affine3f plane_pose_;
    std::string frame_id_;
    Particle particle_;
    Config config_;
    tf::TransformListener* tf_;
    Eigen::Vector3f viewpoint_;
    std::string sensor_frame_;
    boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server_;
    boost::shared_ptr<interactive_markers::InteractiveMarkerServer> plane_server_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
  private:
    
  };
}

#endif