ProbabilisticSceneVisualization.h

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# pragma once

// Global includes
#include <map>
#include <vector>

// Package includes
#include <ros/ros.h>
#include <std_msgs/ColorRGBA.h>
#include <visualization_msgs/Marker.h>

#include <tf/LinearMath/Vector3.h>
#include <tf/LinearMath/Matrix3x3.h>
#include <tf/LinearMath/Transform.h>
#include <tf/transform_datatypes.h>

#include <Eigen/Core>

// Local includes
#include "visualization/psm/ProbabilisticPrimarySceneObjectVisualization.h"

#include "helper/ColorHelper.h"

namespace Visualization
{
  class ProbabilisticSceneVisualization
  {
  public:
    
    ProbabilisticSceneVisualization(std::string pScene);
    
    ~ProbabilisticSceneVisualization();
    
    void appendVisualizer(boost::shared_ptr<ProbabilisticPrimarySceneObjectVisualization> pVisualizer);
    
    void setDrawingParameters(const double pScale, const float pSigmaMultiplicator, const std::string pFrameId);
    
    void drawInTargetingMode();
    
    void drawInInferenceMode();
    
    void drawInLearningMode();
    
    void drawInLearningTrajectoryMode();
    
  private:
    
    std::string mScene;
    
    std::vector<boost::shared_ptr<ProbabilisticPrimarySceneObjectVisualization> > mSceneObjectVisualizers;
  };
}